From 466f46c51d45a2cec0b89f0a107611218eedf76c Mon Sep 17 00:00:00 2001
From: hdallard <hdallard@laas.fr>
Date: Thu, 12 May 2016 16:16:46 +0200
Subject: [PATCH] Move hpp-gui core code to gepetto-viewer-corba
---
CMakeLists.txt | 45 ++
cmake-modules/FindPythonQt.cmake | 58 ++
include/gepetto/gui/bodytreewidget.hh | 73 +++
include/gepetto/gui/color-map.hh | 72 +++
include/gepetto/gui/config-dep.hh.in | 6 +
.../gui/dialog/dialogloadenvironment.hh | 67 +++
include/gepetto/gui/dialog/dialogloadrobot.hh | 72 +++
.../gepetto/gui/dialog/pluginmanagerdialog.hh | 125 ++++
include/gepetto/gui/fwd.hh | 25 +
include/gepetto/gui/ledindicator.hh | 34 ++
include/gepetto/gui/mainwindow.hh | 125 ++++
include/gepetto/gui/meta.hh | 33 ++
include/gepetto/gui/omniorb/omniorbthread.hh | 213 +++++++
include/gepetto/gui/omniorb/url.hh | 24 +
include/gepetto/gui/osgwidget.hh | 123 ++++
include/gepetto/gui/pick-handler.hh | 52 ++
include/gepetto/gui/plugin-interface.hh | 117 ++++
include/gepetto/gui/pythonwidget.hh | 40 ++
include/gepetto/gui/safeapplication.hh | 23 +
include/gepetto/gui/settings.hh | 75 +++
include/gepetto/gui/tree-item.hh | 65 +++
.../gui/ui/dialog_loadRobotFromFile.ui | 100 ++++
.../gepetto/gui/ui/dialogloadenvironment.ui | 285 +++++++++
include/gepetto/gui/ui/dialogloadrobot.ui | 301 ++++++++++
include/gepetto/gui/ui/mainwindow.ui | 545 ++++++++++++++++++
include/gepetto/gui/ui/pluginmanagerdialog.ui | 103 ++++
include/gepetto/gui/windows-manager.hh | 85 +++
res/floor.png | Bin 0 -> 3597 bytes
res/gepetto.png | Bin 0 -> 151712 bytes
res/images.qrc | 18 +
res/pause.png | Bin 0 -> 1850 bytes
res/play.png | Bin 0 -> 1806 bytes
res/record.gif | Bin 0 -> 1232 bytes
res/record.png | Bin 0 -> 2038 bytes
res/refresh.png | Bin 0 -> 2061 bytes
res/selection.png | Bin 0 -> 159 bytes
res/stop.png | Bin 0 -> 1797 bytes
res/zoom_fit.png | Bin 0 -> 1292 bytes
src/gui/CMakeLists.txt | 118 ++++
src/gui/bodytreewidget.cc | 168 ++++++
src/gui/dialog/dialogloadenvironment.cc | 98 ++++
src/gui/dialog/dialogloadrobot.cc | 104 ++++
src/gui/dialog/pluginmanagerdialog.cc | 184 ++++++
src/gui/gepetto-gui.in | 7 +
src/gui/ledindicator.cc | 40 ++
src/gui/main.cc.in | 91 +++
src/gui/mainwindow.cc | 421 ++++++++++++++
src/gui/omniorbthread.cc | 130 +++++
src/gui/osgwidget.cc | 364 ++++++++++++
src/gui/pick-handler.cc | 180 ++++++
src/gui/pythonwidget.cc | 59 ++
src/gui/safeapplication.cc | 42 ++
src/gui/settings.cc | 407 +++++++++++++
src/gui/tree-item.cc | 143 +++++
src/gui/windows-manager.cc | 35 ++
55 files changed, 5495 insertions(+)
create mode 100644 cmake-modules/FindPythonQt.cmake
create mode 100644 include/gepetto/gui/bodytreewidget.hh
create mode 100644 include/gepetto/gui/color-map.hh
create mode 100644 include/gepetto/gui/config-dep.hh.in
create mode 100644 include/gepetto/gui/dialog/dialogloadenvironment.hh
create mode 100644 include/gepetto/gui/dialog/dialogloadrobot.hh
create mode 100644 include/gepetto/gui/dialog/pluginmanagerdialog.hh
create mode 100644 include/gepetto/gui/fwd.hh
create mode 100644 include/gepetto/gui/ledindicator.hh
create mode 100644 include/gepetto/gui/mainwindow.hh
create mode 100644 include/gepetto/gui/meta.hh
create mode 100644 include/gepetto/gui/omniorb/omniorbthread.hh
create mode 100644 include/gepetto/gui/omniorb/url.hh
create mode 100644 include/gepetto/gui/osgwidget.hh
create mode 100644 include/gepetto/gui/pick-handler.hh
create mode 100644 include/gepetto/gui/plugin-interface.hh
create mode 100644 include/gepetto/gui/pythonwidget.hh
create mode 100644 include/gepetto/gui/safeapplication.hh
create mode 100644 include/gepetto/gui/settings.hh
create mode 100644 include/gepetto/gui/tree-item.hh
create mode 100644 include/gepetto/gui/ui/dialog_loadRobotFromFile.ui
create mode 100644 include/gepetto/gui/ui/dialogloadenvironment.ui
create mode 100644 include/gepetto/gui/ui/dialogloadrobot.ui
create mode 100644 include/gepetto/gui/ui/mainwindow.ui
create mode 100644 include/gepetto/gui/ui/pluginmanagerdialog.ui
create mode 100644 include/gepetto/gui/windows-manager.hh
create mode 100644 res/floor.png
create mode 100644 res/gepetto.png
create mode 100644 res/images.qrc
create mode 100644 res/pause.png
create mode 100644 res/play.png
create mode 100644 res/record.gif
create mode 100644 res/record.png
create mode 100644 res/refresh.png
create mode 100644 res/selection.png
create mode 100644 res/stop.png
create mode 100644 res/zoom_fit.png
create mode 100644 src/gui/CMakeLists.txt
create mode 100644 src/gui/bodytreewidget.cc
create mode 100644 src/gui/dialog/dialogloadenvironment.cc
create mode 100644 src/gui/dialog/dialogloadrobot.cc
create mode 100644 src/gui/dialog/pluginmanagerdialog.cc
create mode 100644 src/gui/gepetto-gui.in
create mode 100644 src/gui/ledindicator.cc
create mode 100644 src/gui/main.cc.in
create mode 100644 src/gui/mainwindow.cc
create mode 100644 src/gui/omniorbthread.cc
create mode 100644 src/gui/osgwidget.cc
create mode 100644 src/gui/pick-handler.cc
create mode 100644 src/gui/pythonwidget.cc
create mode 100644 src/gui/safeapplication.cc
create mode 100644 src/gui/settings.cc
create mode 100644 src/gui/tree-item.cc
create mode 100644 src/gui/windows-manager.cc
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b1f3533..26e4b6b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,7 +52,52 @@ PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
INCLUDE_DIRECTORIES(SYSTEM ${EIGEN3_INCLUDE_DIRS})
+SET (${PROJECT_NAME}_HEADERS_MOC
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/mainwindow.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/safeapplication.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/osgwidget.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/tree-item.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/bodytreewidget.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/ledindicator.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/plugin-interface.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/omniorb/omniorbthread.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/omniorb/url.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/dialog/dialogloadrobot.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/dialog/dialogloadenvironment.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/dialog/pluginmanagerdialog.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/pick-handler.hh
+ )
+SET (${PROJECT_NAME}_HEADERS_NO_MOC
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/fwd.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/meta.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/settings.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/windows-manager.hh
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/color-map.hh
+ ${CMAKE_BINARY_DIR}/include/gepetto/gui/config-dep.hh
+ )
+
+SET(${PROJECT_NAME}_FORMS
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/ui/mainwindow.ui
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/ui/dialogloadrobot.ui
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/ui/dialogloadenvironment.ui
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/ui/pluginmanagerdialog.ui
+ )
+
+SET(${PROJECT_NAME}_RESOURCES ${CMAKE_SOURCE_DIR}/res/images.qrc)
+
+SET(${PROJECT_NAME}_HEADERS
+ ${${PROJECT_NAME}_HEADERS}
+ ${${PROJECT_NAME}_HEADERS_MOC}
+ ${${PROJECT_NAME}_HEADERS_NO_MOC})
+
+config_files(
+ include/gepetto/gui/config-dep.hh
+ src/gui/main.cc
+ src/gui/gepetto-gui
+ )
+
ADD_SUBDIRECTORY(src)
+ADD_SUBDIRECTORY(src/gui)
ADD_SUBDIRECTORY(blender)
ADD_SUBDIRECTORY(examples EXCLUDE_FROM_ALL)
diff --git a/cmake-modules/FindPythonQt.cmake b/cmake-modules/FindPythonQt.cmake
new file mode 100644
index 0000000..7192bc1
--- /dev/null
+++ b/cmake-modules/FindPythonQt.cmake
@@ -0,0 +1,58 @@
+# Find PythonQt
+#
+# Sets PYTHONQT_FOUND, PYTHONQT_INCLUDE_DIR, PYTHONQT_LIBRARY, PYTHONQT_QTALL_LIBRARY, PYTHONQT_LIBRARIES
+#
+
+IF(NOT EXISTS "${PYTHONQT_INSTALL_DIR}")
+ FIND_PATH(PYTHONQT_INSTALL_DIR include/PythonQt/PythonQt.h
+ DOC "Directory where PythonQt was installed.")
+ENDIF()
+# XXX Since PythonQt 3.0 is not yet cmakeified, depending
+# on how PythonQt is built, headers will not always be
+# installed in "include/PythonQt". That is why "src"
+# is added as an option. See [1] for more details.
+# [1] https://github.com/commontk/CTK/pull/538#issuecomment-86106367
+FIND_PATH(PYTHONQT_INCLUDE_DIR PythonQt.h
+ PATHS "${PYTHONQT_INSTALL_DIR}/include/PythonQt"
+ DOC "Path to the PythonQt include directory")
+
+SET(PYTHONQT_LIBRARIES)
+
+MACRO(_SEARCH_FOR COMPONENT)
+ STRING(TOUPPER ${COMPONENT} _COMP_UPPERCASE)
+ FIND_LIBRARY(${_COMP_UPPERCASE}_LIBRARY
+ NAMES ${COMPONENT}
+ PATHS "${PYTHONQT_INSTALL_DIR}/lib"
+ DOC "The ${COMPONENT} library.")
+ IF(NOT ${${_COMP_UPPERCASE}_LIBRARY} STREQUAL "${_COMP_UPPERCASE}_LIBRARY-NOTFOUND")
+ SET(${COMPONENT}_FOUND TRUE)
+ ENDIF(NOT ${${_COMP_UPPERCASE}_LIBRARY} STREQUAL "${_COMP_UPPERCASE}_LIBRARY-NOTFOUND")
+
+ MARK_AS_ADVANCED(${${_COMP_UPPERCASE}_LIBRARY})
+ SET(PYTHONQT_LIBRARIES ${PYTHONQT_LIBRARIES} ${${_COMP_UPPERCASE}_LIBRARY})
+ENDMACRO(_SEARCH_FOR COMP)
+
+_SEARCH_FOR(PythonQt)
+
+FOREACH(_COMPONENT_SHORT ${PythonQt_FIND_COMPONENTS})
+ SET(_COMPONENT "PythonQt_${_COMPONENT_SHORT}")
+ _SEARCH_FOR(${_COMPONENT})
+ENDFOREACH(_COMPONENT_SHORT ${PythonQt_FIND_COMPONENTS})
+
+MARK_AS_ADVANCED(PYTHONQT_INSTALL_DIR)
+MARK_AS_ADVANCED(PYTHONQT_INCLUDE_DIR)
+MARK_AS_ADVANCED(PYTHONQT_LIBRARIES)
+
+# All upper case _FOUND variable is maintained for backwards compatibility.
+SET(PythonQt_FOUND 0)
+IF(PYTHONQT_INCLUDE_DIR AND PYTHONQT_LIBRARIES)
+ # Currently CMake'ified PythonQt only supports building against a python Release build.
+ ADD_DEFINITIONS(-DPYTHONQT_USE_RELEASE_PYTHON_FALLBACK)
+ SET(PythonQt_FOUND 1)
+ENDIF()
+SET(PYTHONQT_FOUND ${PythonQt_FOUND})
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(PythonQt
+ REQUIRED_VARS PYTHONQT_LIBRARY PYTHONQT_INCLUDE_DIR
+ HANDLE_COMPONENTS)
diff --git a/include/gepetto/gui/bodytreewidget.hh b/include/gepetto/gui/bodytreewidget.hh
new file mode 100644
index 0000000..da5df3e
--- /dev/null
+++ b/include/gepetto/gui/bodytreewidget.hh
@@ -0,0 +1,73 @@
+#ifndef GEPETTO_GUI_BODYTREEWIDGET_HH
+#define GEPETTO_GUI_BODYTREEWIDGET_HH
+
+// This does not work because of qt meta-object compiler
+#define GEPETTO_GUI_BODYTREE_DECL_FEATURE(func, ArgType) \
+ public slots: \
+ void func (ArgType arg)
+#define GEPETTO_GUI_BODYTREE_IMPL_FEATURE(func, ArgType, CorbaType, WindowsManagerFunc) \
+ void BodyTreeWidget::func (ArgType arg) { \
+ WindowsManagerPtr_t wsm = MainWindow::instance()->osg(); \
+ foreach (const QModelIndex& index, view_->selectionModel ()->selectedIndexes ()) { \
+ const BodyTreeItem *item = dynamic_cast <const BodyTreeItem*> \
+ (model_->itemFromIndex (index)); \
+ if (item) wsm->WindowsManagerFunc (item->node()->getID().c_str(), \
+ Traits<CorbaType>::from (arg).in()); \
+ } \
+ }
+
+#include <QWidget>
+#include <QTreeView>
+#include <QToolBox>
+#include <QStandardItemModel>
+#include <QVector3D>
+
+#include <gepetto/viewer/group-node.h>
+
+#include <gepetto/gui/fwd.hh>
+
+namespace gepetto {
+ namespace gui {
+ class BodyTreeWidget : public QWidget
+ {
+ Q_OBJECT
+
+ public:
+ explicit BodyTreeWidget (QWidget* parent = NULL)
+ : QWidget (parent)
+ {}
+
+ void init(QTreeView *view, QToolBox* toolBox);
+
+ virtual ~BodyTreeWidget () {}
+
+ void addBodyToTree (graphics::GroupNodePtr_t group);
+ void changeAlphaValue(const float& alpha);
+
+ QTreeView* view ();
+
+ public slots:
+ void selectBodyByName (const QString bodyName);
+ void selectBodyByName (const std::string& bodyName);
+ void reloadBodyTree ();
+
+ protected slots:
+ void customContextMenu (const QPoint& pos);
+
+ public slots:
+ void setTransparency(int value);
+ void setVisibilityMode (QString arg);
+ void setWireFrameMode (QString arg);
+ void setColor (QColor color);
+ void setScale (int scale);
+
+ private:
+ QTreeView* view_;
+ QStandardItemModel* model_;
+ WindowsManagerPtr_t osg_;
+ QToolBox* toolBox_;
+ };
+ }
+}
+
+#endif // GEPETTO_GUI_BODYTREEWIDGET_HH
diff --git a/include/gepetto/gui/color-map.hh b/include/gepetto/gui/color-map.hh
new file mode 100644
index 0000000..358104a
--- /dev/null
+++ b/include/gepetto/gui/color-map.hh
@@ -0,0 +1,72 @@
+#ifndef GEPETTO_GUI_COLORMAP_HH
+#define GEPETTO_GUI_COLORMAP_HH
+
+#include <QColor>
+#include <QDebug>
+
+namespace gepetto {
+ namespace gui {
+ class ColorMap {
+ public:
+ static QColor interpolate (std::size_t nbColors, std::size_t index)
+ {
+ if (index > nbColors)
+ qDebug() << "Nb colors:" << nbColors << "and index" << index;
+ return QColor::fromHslF((qreal)index / (qreal)nbColors, 1, 0.5);
+ }
+
+ ColorMap (std::size_t nbColors) :
+ nbColors_ (nbColors),
+ currentIndex_ (0)
+ {
+ log2up_ = 0;
+ mask_ = 0;
+ std::size_t val = (nbColors > 0)?nbColors:1;
+ for (log2up_ = 0; val; ++log2up_, val >>= 1) mask_ = 2*mask_ + 1;
+ }
+
+ QColor getColor (std::size_t index) const {
+ return ColorMap::interpolate(mask_, remap (index));
+ }
+
+ void getColor (std::size_t index, float color[4]) const {
+ QColor c = getColor(index);
+ color[0] = (float)c.redF();
+ color[1] = (float)c.greenF();
+ color[2] = (float)c.blueF();
+ color[3] = (float)c.alphaF();
+ }
+
+ QColor nextColor () {
+ QColor color = getColor (currentIndex_);
+ currentIndex(currentIndex_ + 1);
+ return color;
+ }
+
+ void currentIndex (std::size_t index) {
+ currentIndex_ = index % nbColors_;
+ }
+
+ /// Reverse the order of the bits in index.
+ /// This increases the contrast between colors with close indexes.
+ std::size_t remap (const std::size_t& index) const {
+ std::size_t ret = 0;
+ std::size_t input = index;
+ for (std::size_t i = 0; i < log2up_; ++i) {
+ ret <<= 1;
+ if (input & 1) ++ret;
+ input >>= 1;
+ }
+ return ret;
+ }
+
+ private:
+ std::size_t nbColors_;
+ std::size_t mask_;
+ std::size_t log2up_;
+ std::size_t currentIndex_;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_COLORMAP_HH
diff --git a/include/gepetto/gui/config-dep.hh.in b/include/gepetto/gui/config-dep.hh.in
new file mode 100644
index 0000000..38992d5
--- /dev/null
+++ b/include/gepetto/gui/config-dep.hh.in
@@ -0,0 +1,6 @@
+#ifndef GEPETTO_GUI_CONFIG_DEP_HH
+# define PYTHON_CONFIG_DEP_HH
+
+#cmakedefine01 GEPETTO_GUI_HAS_PYTHONQT
+
+#endif // PYTHON_CONFIG_PYTHON_DEP_HH
diff --git a/include/gepetto/gui/dialog/dialogloadenvironment.hh b/include/gepetto/gui/dialog/dialogloadenvironment.hh
new file mode 100644
index 0000000..fa7d7ae
--- /dev/null
+++ b/include/gepetto/gui/dialog/dialogloadenvironment.hh
@@ -0,0 +1,67 @@
+#ifndef GEPETTO_GUI_DIALOGLOADENVIRONMENT_HH
+#define GEPETTO_GUI_DIALOGLOADENVIRONMENT_HH
+
+#include <QDialog>
+#include <QComboBox>
+
+namespace Ui {
+ class DialogLoadEnvironment;
+}
+
+namespace gepetto {
+ namespace gui {
+ class DialogLoadEnvironment : public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ explicit DialogLoadEnvironment(QWidget *parent = 0);
+ ~DialogLoadEnvironment();
+
+ struct EnvironmentDefinition {
+ QString name_, envName_, urdfFilename_, mesh_, package_, packagePath_, urdfSuf_,
+ srdfSuf_;
+ EnvironmentDefinition () {}
+ EnvironmentDefinition (QString name, QString envName,
+ QString package, QString packagePath,
+ QString urdfFilename, QString urdfSuffix, QString srdfSuffix,
+ QString meshDirectory) :
+ name_(name), envName_ (envName), urdfFilename_(urdfFilename),
+ mesh_(meshDirectory), package_ (package), packagePath_ (packagePath),
+ urdfSuf_(urdfSuffix), srdfSuf_(srdfSuffix)
+ {}
+ };
+
+ static void addEnvironmentDefinition (QString name,
+ QString envName,
+ QString package,
+ QString packagePath,
+ QString urdfFilename,
+ QString urdfSuffix,
+ QString srdfSuffix,
+ QString meshDirectory);
+ static QList <EnvironmentDefinition> getEnvironmentDefinitions ();
+
+ EnvironmentDefinition getSelectedDescription () {
+ return selected_;
+ }
+
+ private slots:
+ void accept();
+ void meshSelect();
+ void packagePathSelect();
+ void envSelect(int index);
+
+ private:
+ ::Ui::DialogLoadEnvironment *ui_;
+ QComboBox* defs_;
+ EnvironmentDefinition selected_;
+
+ static QList <EnvironmentDefinition> definitions;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+Q_DECLARE_METATYPE (gepetto::gui::DialogLoadEnvironment::EnvironmentDefinition)
+
+#endif // GEPETTO_GUI_DIALOGLOADENVIRONMENT_HH
diff --git a/include/gepetto/gui/dialog/dialogloadrobot.hh b/include/gepetto/gui/dialog/dialogloadrobot.hh
new file mode 100644
index 0000000..d7b821c
--- /dev/null
+++ b/include/gepetto/gui/dialog/dialogloadrobot.hh
@@ -0,0 +1,72 @@
+#ifndef GEPETTO_GUI_DIALOGLOADROBOT_HH
+#define GEPETTO_GUI_DIALOGLOADROBOT_HH
+
+#include <QDialog>
+#include <QComboBox>
+
+namespace Ui {
+ class DialogLoadRobot;
+}
+
+namespace gepetto {
+ namespace gui {
+ class DialogLoadRobot : public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ struct RobotDefinition {
+ QString name_, robotName_, urdfSuf_, srdfSuf_, mesh_, package_, packagePath_, modelName_, rootJointType_;
+ RobotDefinition () : rootJointType_ ("Freeflyer") {}
+ RobotDefinition (QString name,
+ QString robotName,
+ QString rootJointType,
+ QString modelName,
+ QString package,
+ QString packagePath,
+ QString urdfSuffix,
+ QString srdfSuffix,
+ QString meshDirectory) :
+ name_(name), robotName_ (robotName), urdfSuf_(urdfSuffix), srdfSuf_(srdfSuffix), mesh_(meshDirectory),
+ package_ (package), packagePath_(packagePath), modelName_ (modelName),
+ rootJointType_ (rootJointType){}
+ };
+
+ explicit DialogLoadRobot(QWidget *parent = 0);
+ ~DialogLoadRobot();
+
+ static void addRobotDefinition (QString name,
+ QString robotName,
+ QString rootJointType,
+ QString modelName,
+ QString package,
+ QString packagePath,
+ QString urdfSuffix,
+ QString srdfSuffix,
+ QString meshDirectory);
+ static QList <RobotDefinition> getRobotDefinitions ();
+
+ RobotDefinition getSelectedRobotDescription () {
+ return selected_;
+ }
+
+ private slots:
+ void accept();
+ void meshSelect();
+ void packagePathSelect();
+ void robotSelect(int index);
+
+ private:
+ ::Ui::DialogLoadRobot *ui_;
+ QComboBox* defs_;
+ RobotDefinition selected_;
+
+ static QList <RobotDefinition> definitions;
+ static QStringList rootJointTypes;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+Q_DECLARE_METATYPE (gepetto::gui::DialogLoadRobot::RobotDefinition)
+
+#endif // GEPETTO_GUI_DIALOGLOADROBOT_HH
diff --git a/include/gepetto/gui/dialog/pluginmanagerdialog.hh b/include/gepetto/gui/dialog/pluginmanagerdialog.hh
new file mode 100644
index 0000000..199b2fb
--- /dev/null
+++ b/include/gepetto/gui/dialog/pluginmanagerdialog.hh
@@ -0,0 +1,125 @@
+#ifndef GEPETTO_GUI_PLUGINMANAGERDIALOG_HH
+#define GEPETTO_GUI_PLUGINMANAGERDIALOG_HH
+
+#include <QDialog>
+#include <QMap>
+#include <QSignalMapper>
+#include <QDir>
+#include <QPluginLoader>
+#include <QTableWidgetItem>
+
+#include <gepetto/gui/plugin-interface.hh>
+
+namespace Ui {
+ class PluginManagerDialog;
+}
+
+namespace gepetto {
+ namespace gui {
+ class PluginManager {
+ public:
+ typedef QPair <QString, QPluginLoader*> Pair;
+ typedef QMap <QString, QPluginLoader*> Map;
+
+ ~PluginManager () {
+ qDeleteAll (plugins_);
+ }
+
+ const QMap <QString, QPluginLoader*>& plugins () const {
+ return plugins_;
+ }
+
+ bool add (const QString& name, QWidget* parent = NULL, bool load = false);
+
+ template <typename Interface> Interface* getFirstOf ();
+
+ template <typename Interface> QList <Interface*> get ();
+
+ static QIcon icon (const QPluginLoader* pl);
+
+ static QString status (const QPluginLoader* pl);
+
+ static void addPluginDir (const QString& path);
+
+ bool initPlugin (const QString& name);
+
+ bool unloadPlugin (const QString& name);
+
+ private:
+ template <typename Interface>
+ static const Interface* const_instance_cast (const QPluginLoader* pl);
+
+ QMap <QString, QPluginLoader*> plugins_;
+ static QList <QDir> pluginDirs_;
+ };
+
+ class PluginManagerDialog : public QDialog
+ {
+ Q_OBJECT
+
+ public:
+ explicit PluginManagerDialog(PluginManager* pm, QWidget *parent = 0);
+ ~PluginManagerDialog();
+
+ public slots:
+ void onItemChanged (QTableWidgetItem* current, QTableWidgetItem* previous);
+ void contextMenu(const QPoint& pos);
+
+ void load (const QString& name);
+ void unload (const QString& name);
+
+ private:
+ static const std::size_t NAME;
+ static const std::size_t FILE;
+ static const std::size_t FULLPATH;
+ static const std::size_t VERSION;
+
+ void updateList ();
+
+ ::Ui::PluginManagerDialog *ui_;
+
+ PluginManager* pm_;
+ QSignalMapper signalMapper_;
+ };
+
+ template <typename Interface>
+ Interface* PluginManager::getFirstOf ()
+ {
+ foreach (QPluginLoader* p, plugins_) {
+ if (p->isLoaded()) {
+ PluginInterface* check = qobject_cast <PluginInterface*> (p->instance());
+ if (check && check->isInit ()) {
+ Interface* pi = qobject_cast <Interface*> (p->instance());
+ if (pi) return pi;
+ }
+ }
+ }
+ return NULL;
+ }
+
+ template <typename Interface>
+ QList <Interface*> PluginManager::get ()
+ {
+ QList <Interface*> list;
+ foreach (QPluginLoader* p, plugins_) {
+ if (p->isLoaded()) {
+ PluginInterface* check = qobject_cast <PluginInterface*> (p->instance());
+ if (check && check->isInit ()) {
+ Interface* pi = qobject_cast <Interface*> (p->instance());
+ if (pi)
+ list.append(pi);
+ }
+ }
+ }
+ return list;
+ }
+
+ template <typename Interface>
+ const Interface* PluginManager::const_instance_cast (const QPluginLoader* pl)
+ {
+ return (const Interface*) qobject_cast <Interface*> (const_cast <QPluginLoader*>(pl)->instance());
+ }
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_PLUGINMANAGERDIALOG_HH
diff --git a/include/gepetto/gui/fwd.hh b/include/gepetto/gui/fwd.hh
new file mode 100644
index 0000000..58c8da2
--- /dev/null
+++ b/include/gepetto/gui/fwd.hh
@@ -0,0 +1,25 @@
+#ifndef GEPETTO_GUI_FWD_HH
+#define GEPETTO_GUI_FWD_HH
+
+#include <boost/shared_ptr.hpp>
+#include <gepetto/gui/config-dep.hh>
+
+namespace gepetto {
+ namespace gui {
+ class MainWindow;
+ class OSGWidget;
+ class PickHandler;
+ class BodyTreeWidget;
+
+ class ViewerCorbaServer;
+
+ class WindowsManager;
+ typedef boost::shared_ptr <WindowsManager> WindowsManagerPtr_t;
+
+#if GEPETTO_GUI_HAS_PYTHONQT
+ class PythonWidget;
+#endif
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_FWD_HH
diff --git a/include/gepetto/gui/ledindicator.hh b/include/gepetto/gui/ledindicator.hh
new file mode 100644
index 0000000..b9dfa1f
--- /dev/null
+++ b/include/gepetto/gui/ledindicator.hh
@@ -0,0 +1,34 @@
+#ifndef GEPETTO_GUI_LEDINDICATOR_HH
+#define GEPETTO_GUI_LEDINDICATOR_HH
+
+#include <QWidget>
+
+namespace gepetto {
+ namespace gui {
+ class LedIndicator : public QWidget
+ {
+ Q_OBJECT
+
+ public:
+ LedIndicator (QWidget *parent = 0);
+
+signals:
+ void switched (bool on);
+ void mouseClickEvent ();
+
+ public slots:
+ void switchLed();
+ void switchLed(bool on);
+
+ protected:
+ void paintEvent(QPaintEvent *);
+ void mouseReleaseEvent(QMouseEvent* event);
+
+ private:
+ bool lit;
+ const int width, height;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_LEDINDICATOR_HH
diff --git a/include/gepetto/gui/mainwindow.hh b/include/gepetto/gui/mainwindow.hh
new file mode 100644
index 0000000..b604c70
--- /dev/null
+++ b/include/gepetto/gui/mainwindow.hh
@@ -0,0 +1,125 @@
+#ifndef GEPETTO_GUI_MAINWINDOW_HH
+#define GEPETTO_GUI_MAINWINDOW_HH
+
+#include <QList>
+#include <QStandardItemModel>
+#include <QMainWindow>
+
+#include <gepetto/viewer/group-node.h>
+
+#include <gepetto/gui/fwd.hh>
+
+#include <gepetto/gui/ledindicator.hh>
+
+#include <gepetto/gui/omniorb/omniorbthread.hh>
+#include <gepetto/gui/dialog/dialogloadrobot.hh>
+#include <gepetto/gui/dialog/dialogloadenvironment.hh>
+#include <gepetto/gui/dialog/pluginmanagerdialog.hh>
+
+#include <gepetto/gui/settings.hh>
+
+namespace Ui {
+ class MainWindow;
+}
+
+namespace gepetto {
+ namespace gui {
+ class MainWindow : public QMainWindow
+ {
+ Q_OBJECT
+
+ public:
+ Settings* settings_;
+
+ explicit MainWindow(Settings* settings, QWidget *parent = 0);
+ ~MainWindow();
+
+ static MainWindow* instance ();
+
+ void insertDockWidget (QDockWidget* dock,
+ Qt::DockWidgetArea area = Qt::AllDockWidgetAreas,
+ Qt::Orientation orientation = Qt::Horizontal);
+
+ void removeDockWidget (QDockWidget* dock);
+
+ BackgroundQueue &worker();
+
+ WindowsManagerPtr_t osg () const;
+
+ OSGWidget* centralWidget() const;
+
+ QList <OSGWidget*> osgWindows () const;
+
+ BodyTreeWidget* bodyTree () const;
+
+ PluginManager* pluginManager ();
+
+ void emitSendToBackground (WorkItem* item);
+
+signals:
+ void sendToBackground (WorkItem* item);
+ void createView (QString name);
+ void refresh ();
+ void applyCurrentConfiguration();
+ void configurationValidation();
+ void selectJointFromBodyName(const QString bodyName);
+
+ public slots:
+ void log (const QString& text);
+ void logError (const QString& text);
+
+ void logJobStarted (int id, const QString& text);
+ void logJobDone (int id, const QString& text);
+ void logJobFailed (int id, const QString& text);
+
+ OSGWidget* delayedCreateView (QString name = "");
+ void requestRefresh ();
+ void requestApplyCurrentConfiguration ();
+ void requestConfigurationValidation ();
+ void configurationValidationStatusChanged (bool valid);
+ void configurationValidationStatusChanged (QStringList bodiesInCollision);
+ void requestSelectJointFromBodyName (const QString bodyName);
+ void onOpenPluginManager ();
+
+ private slots:
+ OSGWidget* onCreateView(QString name);
+ OSGWidget* onCreateView();
+ void openLoadRobotDialog ();
+ void openLoadEnvironmentDialog ();
+
+ void handleWorkerDone (int id);
+
+ void resetConnection ();
+ void about ();
+
+ private:
+ void setupInterface ();
+ void createCentralWidget ();
+
+ static MainWindow* instance_;
+
+ ::Ui::MainWindow* ui_;
+ OSGWidget* centralWidget_;
+ QList <OSGWidget*> osgWindows_;
+#if GEPETTO_GUI_HAS_PYTHONQT
+ PythonWidget* pythonWidget_;
+#endif
+
+ WindowsManagerPtr_t osgViewerManagers_;
+ CorbaServer* osgServer_;
+ BackgroundQueue backgroundQueue_;
+ QThread worker_;
+
+ QCheckBox* collisionValidationActivated_;
+ LedIndicator* collisionIndicator_;
+
+ QStandardItemModel *bodyTreeModel_;
+
+ QMutex delayedCreateView_;
+ QStringList robotNames_;
+ QStringList lastBodiesInCollision_;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_MAINWINDOW_HH
diff --git a/include/gepetto/gui/meta.hh b/include/gepetto/gui/meta.hh
new file mode 100644
index 0000000..9cbbf8e
--- /dev/null
+++ b/include/gepetto/gui/meta.hh
@@ -0,0 +1,33 @@
+#ifndef GEPETTO_GUI_META_HH
+#define GEPETTO_GUI_META_HH
+
+#include <QString>
+
+namespace gepetto {
+ namespace gui {
+ template <typename T> struct Traits;
+
+ template <> struct Traits <CORBA::String_var> {
+ typedef CORBA::String_var type;
+ static inline type from (const QString& s) { return (const char*)s.toLocal8Bit().data(); }
+ static inline type from (const std::string& s) { return s.c_str(); }
+ };
+
+ template <> struct Traits <QString> {
+ typedef CORBA::String_var CORBA_t;
+ static inline CORBA_t to_corba (const QString& s) { return (const char*)s.toLocal8Bit().data(); }
+ };
+
+
+ template <typename In, typename Out, std::size_t Size>
+ inline void convertSequence (const In* in, Out (&out)[Size]) {
+ for (size_t i = 0; i < Size; ++i) out[i] = (Out)in[i];
+ }
+ template <typename In, typename Out>
+ inline void convertSequence (const In* in, Out* out, const std::size_t& s) {
+ for (size_t i = 0; i < s; ++i) out[i] = (Out)in[i];
+ }
+ }
+}
+
+#endif // GEPETTO_GUI_META_HH
diff --git a/include/gepetto/gui/omniorb/omniorbthread.hh b/include/gepetto/gui/omniorb/omniorbthread.hh
new file mode 100644
index 0000000..6f2a108
--- /dev/null
+++ b/include/gepetto/gui/omniorb/omniorbthread.hh
@@ -0,0 +1,213 @@
+#ifndef GEPETTO_GUI_OMNIORBTHREAD_HH
+#define GEPETTO_GUI_OMNIORBTHREAD_HH
+
+#include <assert.h>
+
+#include <QThread>
+#include <QMutex>
+#include <QTimerEvent>
+#include <QElapsedTimer>
+
+#include "gepetto/gui/fwd.hh"
+#include "gepetto/viewer/corba/fwd.hh"
+
+namespace gepetto {
+ namespace gui {
+ class WorkItem {
+ public:
+ WorkItem () : id_ (idGlobal++) {}
+ virtual ~WorkItem () {}
+ virtual void performWork () = 0;
+ int id () const { return id_; }
+ protected:
+ void id (int i) { id_ = i; }
+ private:
+ static int idGlobal;
+ int id_;
+ };
+
+ template <typename Caller, typename ReturnType>
+ class WorkItem_0 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) ();
+ WorkItem_0 (Caller* c, Method m) : caller (c), method (m) {}
+ void performWork () { (caller->*method) (); }
+ private:
+ Caller* caller;
+ Method method;
+ };
+ template <typename Caller, typename ReturnType, typename Arg0>
+ class WorkItem_1 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) (Arg0);
+ WorkItem_1 (Caller* c, Method m, Arg0 a0) : caller (c), method (m),
+ arg0 (a0) {}
+ void performWork () { (caller->*method) (arg0); }
+ private:
+ Caller* caller;
+ Method method;
+ Arg0 arg0;
+ };
+ template <typename Caller, typename ReturnType, typename Arg0, typename Arg1>
+ class WorkItem_2 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) (Arg0,Arg1);
+ WorkItem_2 (Caller* c, Method m, Arg0 a0, Arg1 a1) : caller (c), method (m),
+ arg0 (a0), arg1 (a1) {}
+ void performWork () { (caller->*method) (arg0, arg1); }
+ private:
+ Caller* caller;
+ Method method;
+ Arg0 arg0;
+ Arg1 arg1;
+ };
+ template <typename Caller, typename ReturnType,
+ typename Arg0, typename Arg1, typename Arg2>
+ class WorkItem_3 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) (Arg0,Arg1,Arg2);
+ WorkItem_3 (Caller* c, Method m, Arg0 a0, Arg1 a1, Arg2 a2) : caller (c), method (m),
+ arg0 (a0), arg1 (a1), arg2 (a2) {}
+ void performWork () { (caller->*method) (arg0, arg1, arg2); }
+ private:
+ Caller* caller;
+ Method method;
+ Arg0 arg0;
+ Arg1 arg1;
+ Arg2 arg2;
+ };
+ template <typename Caller, typename ReturnType,
+ typename Arg0, typename Arg1, typename Arg2, typename Arg3>
+ class WorkItem_4 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) (Arg0,Arg1,Arg2,Arg3);
+ WorkItem_4 (Caller* c, Method m, Arg0 a0, Arg1 a1, Arg2 a2, Arg3 a3) : caller (c), method (m),
+ arg0 (a0), arg1 (a1), arg2 (a2), arg3 (a3) {}
+ void performWork () { (caller->*method) (arg0, arg1, arg2, arg3); }
+ private:
+ Caller* caller;
+ Method method;
+ Arg0 arg0;
+ Arg1 arg1;
+ Arg2 arg2;
+ Arg3 arg3;
+ };
+ template <typename Caller, typename ReturnType,
+ typename Arg0, typename Arg1, typename Arg2, typename Arg3, typename Arg4>
+ class WorkItem_5 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) (Arg0,Arg1,Arg2,Arg3,Arg4);
+ WorkItem_5 (Caller* c, Method m, Arg0 a0, Arg1 a1, Arg2 a2, Arg3 a3, Arg4 a4) : caller (c), method (m),
+ arg0 (a0), arg1 (a1), arg2 (a2), arg3 (a3), arg4 (a4) {}
+ void performWork () { (caller->*method) (arg0, arg1, arg2, arg3, arg4); }
+ private:
+ Caller* caller;
+ Method method;
+ Arg0 arg0;
+ Arg1 arg1;
+ Arg2 arg2;
+ Arg3 arg3;
+ Arg4 arg4;
+ };
+ template <typename Caller, typename ReturnType,
+ typename Arg0, typename Arg1, typename Arg2, typename Arg3, typename Arg4, typename Arg5>
+ class WorkItem_6 : public WorkItem {
+ public:
+ typedef ReturnType (Caller::* Method) (Arg0,Arg1,Arg2,Arg3,Arg4,Arg5);
+ WorkItem_6 (Caller* c, Method m, Arg0 a0, Arg1 a1, Arg2 a2, Arg3 a3, Arg4 a4, Arg5 a5) : caller (c), method (m),
+ arg0 (a0), arg1 (a1), arg2 (a2), arg3 (a3), arg4 (a4), arg5 (a5) {}
+ void performWork () { (caller->*method) (arg0, arg1, arg2, arg3, arg4, arg5); }
+ private:
+ Caller* caller;
+ Method method;
+ Arg0 arg0;
+ Arg1 arg1;
+ Arg2 arg2;
+ Arg3 arg3;
+ Arg4 arg4;
+ Arg5 arg5;
+ };
+
+ class ServerProcess : public QObject
+ {
+ Q_OBJECT
+
+ public:
+ ServerProcess () ;
+ void waitForInitDone ();
+
+signals:
+ void done ();
+
+ public slots:
+ virtual void init ();
+ virtual void processRequest (bool loop) = 0;
+
+ protected:
+ QMutex initDone_;
+ };
+
+ class ViewerServerProcess : public ServerProcess
+ {
+ Q_OBJECT
+
+ public:
+ ViewerServerProcess (graphics::corbaServer::Server* server);
+
+ ~ViewerServerProcess ();
+
+
+ public slots:
+ void init ();
+ void processRequest (bool loop);
+
+ private:
+ graphics::corbaServer::Server* server_;
+ };
+
+ class CorbaServer : public QObject
+ {
+ Q_OBJECT
+
+ public:
+ CorbaServer(ServerProcess* process);
+
+ ~CorbaServer ();
+
+ void wait ();
+
+ void waitForInitDone ();
+
+ void start ();
+
+signals:
+ void process (bool);
+
+ protected slots:
+ void timerEvent(QTimerEvent *event);
+ void processed ();
+
+ private:
+ ServerProcess* control_;
+ QThread worker_;
+ int timerId_, interval_;
+ };
+
+ class BackgroundQueue : public QObject
+ {
+ Q_OBJECT
+
+ public:
+ BackgroundQueue (QObject *parent = 0);
+
+signals:
+ void done (int workId);
+ void failed (int workId, const QString& text);
+
+ public slots:
+ void perform(WorkItem* item);
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_OMNIORBTHREAD_HH
diff --git a/include/gepetto/gui/omniorb/url.hh b/include/gepetto/gui/omniorb/url.hh
new file mode 100644
index 0000000..4e0507e
--- /dev/null
+++ b/include/gepetto/gui/omniorb/url.hh
@@ -0,0 +1,24 @@
+#ifndef GEPETTO_GUI_OMNIORB_URL_HH
+#define GEPETTO_GUI_OMNIORB_URL_HH
+
+#include <QString>
+
+namespace gepetto {
+ namespace gui {
+ namespace omniOrb {
+ static inline QString IIOPurl (const QString& host, const QString& port)
+ {
+ QString hp;
+ if (host.isEmpty ()) {
+ if (!port.isEmpty ()) hp = QString ("localhost:%1").arg (port);
+ } else {
+ if (port.isEmpty ()) hp = QString ("%1:2809").arg (host);
+ else hp = QString ("%1:%2").arg(host).arg(port);
+ }
+ return QString ("corbaloc:iiop:%1/NameService").arg (hp);
+ }
+ } // namespace omniOrb
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_OMNIORB_URL_HH
diff --git a/include/gepetto/gui/osgwidget.hh b/include/gepetto/gui/osgwidget.hh
new file mode 100644
index 0000000..1eec47c
--- /dev/null
+++ b/include/gepetto/gui/osgwidget.hh
@@ -0,0 +1,123 @@
+#ifndef GEPETTO_GUI_OSGWIDGET_HH
+#define GEPETTO_GUI_OSGWIDGET_HH
+
+#include <QString>
+#include <QThread>
+#include <QLabel>
+#include <QTimer>
+
+#include <osg/ref_ptr>
+
+#include <osgQt/GraphicsWindowQt>
+#include <gepetto/viewer/window-manager.h>
+
+#include <gepetto/gui/fwd.hh>
+#include <gepetto/gui/windows-manager.hh>
+
+namespace gepetto {
+ namespace gui {
+ class RenderThread : public QThread {
+ public:
+ RenderThread () :
+ QThread (), viewerPtr (0), refreshRate (30)
+ {}
+
+ virtual ~RenderThread();
+
+ osgViewer::ViewerRefPtr viewerPtr;
+ WindowsManagerPtr_t wsm_;
+ int refreshRate;
+ bool stop;
+
+ // QThread interface
+ protected:
+ void run();
+ };
+
+ class OSGWidget : public QWidget
+ {
+ Q_OBJECT
+ public:
+ typedef std::list <graphics::NodePtr_t> NodeList;
+
+ enum Mode {
+ CAMERA_MANIPULATION,
+ NODE_SELECTION,
+ NODE_MOTION
+ };
+
+ OSGWidget( WindowsManagerPtr_t wm,
+ std::string name,
+ MainWindow* parent = 0,
+ Qt::WindowFlags f = 0,
+ osgViewer::ViewerBase::ThreadingModel threadingModel=osgViewer::Viewer::SingleThreaded );
+
+ virtual ~OSGWidget();
+
+ WindowsManager::WindowID windowID () const;
+
+signals:
+ void selected (QString name);
+ void requestMotion (graphics::NodePtr_t node, graphics::Node::Arrow direction,
+ float speed);
+
+ public slots:
+ void loadURDF (const QString robotName,
+ const QString urdf_file_path,
+ const QString meshDataRootDir);
+ virtual void onHome();
+
+ void changeMode (Mode mode);
+ void selectionMode ();
+ void cameraManipulationMode ();
+ void addFloor();
+ void attachToWindow (const std::string nodeName);
+
+ protected:
+
+ virtual void paintEvent( QPaintEvent* paintEvent );
+
+ private slots:
+ void transferSelected (QString name);
+
+ private:
+ osgGA::EventQueue* getEventQueue() const;
+
+ osg::ref_ptr<osgQt::GraphicsWindowQt> graphicsWindow_;
+ WindowsManagerPtr_t wsm_;
+ osg::ref_ptr<PickHandler> pickHandler_;
+ WindowsManager::WindowID wid_;
+ graphics::WindowManagerPtr_t wm_;
+ RenderThread render_;
+ osgViewer::ViewerRefPtr viewer_;
+ osg::ref_ptr <osgViewer::ScreenCaptureHandler> screenCapture_;
+
+ QPoint selectionStart_;
+ QPoint selectionEnd_;
+ graphics::NodePtr_t selectedNode_;
+
+ Mode mode_;
+ bool selectionFinished_;
+
+ std::list <graphics::NodePtr_t> processPoint ();
+ std::list <graphics::NodePtr_t> processSelection();
+
+ struct InfoBox {
+ QSize size_;
+ QPixmap selection_, record_;
+ QLabel* label_;
+
+ InfoBox (QWidget* parent);
+ void normalMode ();
+ void selectionMode ();
+ void recordMode ();
+ void setMode (Mode mode);
+ };
+ InfoBox infoBox_;
+
+ friend class PickHandler;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_OSGWIDGET_HH
diff --git a/include/gepetto/gui/pick-handler.hh b/include/gepetto/gui/pick-handler.hh
new file mode 100644
index 0000000..0bb88ce
--- /dev/null
+++ b/include/gepetto/gui/pick-handler.hh
@@ -0,0 +1,52 @@
+#ifndef GEPETTO_GUI_PICK_HANDLER_HH
+#define GEPETTO_GUI_PICK_HANDLER_HH
+
+#include <osgGA/GUIEventHandler>
+#include <gepetto/viewer/node.h>
+
+#include <QObject>
+#include <QModelIndex>
+
+#include <gepetto/gui/fwd.hh>
+
+namespace gepetto {
+ namespace gui {
+ class PickHandler : public QObject, public osgGA::GUIEventHandler
+ {
+ Q_OBJECT
+
+ public:
+ PickHandler (WindowsManagerPtr_t wsm);
+
+ virtual ~PickHandler();
+
+ virtual bool handle( const osgGA::GUIEventAdapter& ea,
+ osgGA::GUIActionAdapter& aa );
+
+ void select (graphics::NodePtr_t node);
+
+ void getUsage (osg::ApplicationUsage &usage);
+
+ private slots:
+ void bodyTreeCurrentChanged (const QModelIndex ¤t,
+ const QModelIndex &previous);
+
+ signals:
+ void selected (QString name);
+
+ private:
+ std::list <graphics::NodePtr_t> computeIntersection (osgGA::GUIActionAdapter& aa,
+ const float& x, const float& y);
+
+ void setCameraToSelected (osgGA::GUIActionAdapter& aa, bool zoom);
+
+ WindowsManagerPtr_t wsm_;
+ OSGWidget* parent_;
+ graphics::NodePtr_t last_;
+ bool pushed_;
+ float lastX_, lastY_;
+ };
+ }
+}
+
+#endif // GEPETTO_GUI_PICK_HANDLER_HH
diff --git a/include/gepetto/gui/plugin-interface.hh b/include/gepetto/gui/plugin-interface.hh
new file mode 100644
index 0000000..38c45a7
--- /dev/null
+++ b/include/gepetto/gui/plugin-interface.hh
@@ -0,0 +1,117 @@
+#ifndef GEPETTO_GUI_PLUGININTERFACE_HH
+#define GEPETTO_GUI_PLUGININTERFACE_HH
+
+#include <QtGui>
+#include <QWidget>
+
+#include <gepetto/gui/dialog/dialogloadrobot.hh>
+#include <gepetto/gui/dialog/dialogloadenvironment.hh>
+
+#include <omniORB4/CORBA.h>
+
+namespace gepetto {
+ namespace gui {
+ const int DockKeyShortcutBase = Qt::CTRL + Qt::ALT;
+
+ class PluginInterface {
+ public:
+ PluginInterface ()
+ : errorMsg_ ("Not initalized")
+ , isInit_ (false)
+ {}
+
+ virtual ~PluginInterface () {}
+
+ virtual QString name () const = 0;
+
+ void doInit ()
+ {
+ try {
+ init ();
+ isInit_ = true;
+ } catch (const std::exception& e) {
+ errorMsg_ = QString (e.what ());
+ }
+ }
+
+ bool isInit () const
+ {
+ return isInit_;
+ }
+
+ const QString& errorMsg () const
+ {
+ return errorMsg_;
+ }
+
+ protected:
+ virtual void init () = 0;
+
+ private:
+ QString errorMsg_;
+ bool isInit_;
+ };
+
+ class JointAction : public QAction {
+ Q_OBJECT
+
+ public:
+ JointAction (const QString& actionName, const std::string& jointName, QObject* parent)
+ : QAction (actionName, parent)
+ , jointName_ (jointName)
+ {
+ connect (this, SIGNAL (triggered(bool)), SLOT(trigger()));
+ }
+
+signals:
+ void triggered (const std::string jointName);
+
+ private slots:
+ void trigger () {
+ emit triggered(jointName_);
+ }
+
+ private:
+ const std::string jointName_;
+ };
+
+ class JointModifierInterface {
+ public:
+ virtual ~JointModifierInterface () {}
+
+ virtual JointAction* action (const std::string& jointName) const = 0;
+ };
+
+ class ModelInterface {
+ public:
+ virtual ~ModelInterface () {}
+
+ virtual void loadRobotModel (DialogLoadRobot::RobotDefinition rd) = 0;
+
+ virtual void loadEnvironmentModel (DialogLoadEnvironment::EnvironmentDefinition ed) = 0;
+
+ virtual std::string getBodyFromJoint (const std::string& jointName) const = 0;
+ };
+
+ class CorbaInterface {
+ public:
+ virtual ~CorbaInterface () {}
+
+ virtual void openConnection () = 0;
+
+ virtual void closeConnection () = 0;
+
+ /// return true if error was handled.
+ virtual bool corbaException (int jobId, const CORBA::Exception& excep) const = 0;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+Q_DECLARE_INTERFACE (gepetto::gui::PluginInterface, "hpp-gui.plugins/0.0")
+Q_DECLARE_INTERFACE (gepetto::gui::JointModifierInterface, "hpp-gui.plugin.joint-modifier/0.0")
+Q_DECLARE_INTERFACE (gepetto::gui::ModelInterface, "hpp-gui.plugin.model/0.0")
+Q_DECLARE_INTERFACE (gepetto::gui::CorbaInterface, "hpp-gui.plugin.corba/0.0")
+
+
+
+#endif // GEPETTO_GUI_PLUGININTERFACE_HH
diff --git a/include/gepetto/gui/pythonwidget.hh b/include/gepetto/gui/pythonwidget.hh
new file mode 100644
index 0000000..fe35546
--- /dev/null
+++ b/include/gepetto/gui/pythonwidget.hh
@@ -0,0 +1,40 @@
+#ifndef GEPETTO_GUI_PYTHONWIDGET_HH
+#define GEPETTO_GUI_PYTHONWIDGET_HH
+
+#include <gepetto/gui/config-dep.hh>
+
+#if ! GEPETTO_GUI_HAS_PYTHONQT
+# error "hpp-gui was not compile with PythonQt dependency."
+#endif
+
+#include <QDockWidget>
+#include <QLayout>
+#include <QPushButton>
+#include <PythonQt/PythonQt.h>
+#include <PythonQt/PythonQt_QtAll.h>
+#include <PythonQt/PythonQtScriptingConsole.h>
+
+namespace gepetto {
+ namespace gui {
+ class PythonWidget : public QDockWidget
+ {
+ Q_OBJECT
+ public:
+ explicit PythonWidget(QWidget *parent = 0);
+ void addToContext(QString const& name, QObject *obj);
+ virtual ~PythonWidget();
+
+ private:
+ PythonQtObjectPtr mainContext_;
+ PythonQtScriptingConsole* console_;
+ QPushButton* button_;
+
+ signals:
+
+ public slots:
+ void browseFile();
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_PYTHONWIDGET_HH
diff --git a/include/gepetto/gui/safeapplication.hh b/include/gepetto/gui/safeapplication.hh
new file mode 100644
index 0000000..7765042
--- /dev/null
+++ b/include/gepetto/gui/safeapplication.hh
@@ -0,0 +1,23 @@
+#ifndef GEPETTO_GUI_SAFEAPPLICATION_HH
+#define GEPETTO_GUI_SAFEAPPLICATION_HH
+
+#include <QApplication>
+
+namespace gepetto {
+ namespace gui {
+ class SafeApplication : public QApplication
+ {
+ Q_OBJECT
+
+ public:
+ explicit SafeApplication (int& argc, char ** argv);
+
+ virtual bool notify(QObject* receiver, QEvent* e);
+
+ signals:
+ void log (QString text);
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_SAFEAPPLICATION_HH
diff --git a/include/gepetto/gui/settings.hh b/include/gepetto/gui/settings.hh
new file mode 100644
index 0000000..280748f
--- /dev/null
+++ b/include/gepetto/gui/settings.hh
@@ -0,0 +1,75 @@
+#ifndef GEPETTO_GUI_SETTINGS_HH
+#define GEPETTO_GUI_SETTINGS_HH
+
+#include <ostream>
+#include <string>
+#include <QString>
+#include <QStringList>
+
+#include <gepetto/gui/dialog/pluginmanagerdialog.hh>
+
+namespace gepetto {
+ namespace gui {
+ class MainWindow;
+
+ struct Settings {
+ std::string configurationFile;
+ std::string predifinedRobotConf;
+ std::string predifinedEnvConf;
+
+ bool verbose;
+ bool noPlugin;
+ bool autoWriteSettings;
+ bool startGepettoCorbaServer;
+
+ int refreshRate;
+
+ std::string captureDirectory, captureFilename, captureExtension;
+
+ /// Set up default values
+ Settings ();
+
+ /// Update values accordingly with command arguments
+ int fromArgv (const int argc, char* const argv[]);
+
+ /// Update settings from setting files
+ void fromFiles ();
+
+ /// Write the settings to configuration files
+ void writeSettings ();
+
+ /// Get a setting
+ QVariant getSetting (const QString & key,
+ const QVariant & defaultValue = QVariant());
+
+ PluginManager pluginManager_;
+ QStringList pluginsToInit_;
+
+ void setMainWindow (MainWindow* main);
+
+ void initPlugins ();
+
+ std::ostream& print (std::ostream& os);
+
+ private:
+ void readRobotFile ();
+ void readEnvFile ();
+ void readSettingFile ();
+
+ void writeRobotFile ();
+ void writeEnvFile ();
+ void writeSettingFile ();
+
+ void addRobotFromString (const std::string& rbtStr);
+ void addEnvFromString (const std::string& envStr);
+ void addPlugin (const QString& plg, bool init);
+
+ inline void log (const QString& t);
+ inline void logError (const QString& t);
+
+ MainWindow* mw;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_SETTINGS_HH
diff --git a/include/gepetto/gui/tree-item.hh b/include/gepetto/gui/tree-item.hh
new file mode 100644
index 0000000..a61b6c0
--- /dev/null
+++ b/include/gepetto/gui/tree-item.hh
@@ -0,0 +1,65 @@
+#ifndef GEPETTO_GUI_TREEITEM_HH
+#define GEPETTO_GUI_TREEITEM_HH
+
+#include <QStandardItem>
+#include <QItemDelegate>
+#include <QDoubleSpinBox>
+#include <QSlider>
+#include <QMenu>
+#include <QPushButton>
+#include <QSignalMapper>
+
+#include <gepetto/gui/fwd.hh>
+#include <gepetto/viewer/node.h>
+
+namespace gepetto {
+ namespace gui {
+ class BodyTreeItem;
+
+ class BodyTreeItem : public QObject, public QStandardItem
+ {
+ Q_OBJECT
+
+ public:
+ BodyTreeItem (QObject* parent, graphics::NodePtr_t node);
+
+ virtual QStandardItem* clone () const;
+
+ virtual int type() {
+ return QStandardItem::UserType+1;
+ }
+
+ graphics::NodePtr_t node () const;
+
+ void populateContextMenu (QMenu* menu);
+
+ void setParentGroup (const std::string& parent);
+
+ public:
+ void attachToWindow (unsigned int windowID);
+
+ protected:
+ void init ();
+
+ protected slots:
+ void setViewingMode (QString mode);
+ void setVisibilityMode (QString mode);
+ void removeFromGroup ();
+ void remove ();
+ void removeAll ();
+ void addLandmark ();
+ void deleteLandmark ();
+
+ private:
+ graphics::NodePtr_t node_;
+ std::string parentGroup_;
+
+ QSignalMapper vmMapper_;
+ QSignalMapper vizMapper_;
+
+ friend class VisibilityItem;
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_TREEITEM_HH
diff --git a/include/gepetto/gui/ui/dialog_loadRobotFromFile.ui b/include/gepetto/gui/ui/dialog_loadRobotFromFile.ui
new file mode 100644
index 0000000..3762c75
--- /dev/null
+++ b/include/gepetto/gui/ui/dialog_loadRobotFromFile.ui
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>190</width>
+ <height>141</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <layout class="QFormLayout" name="formLayout">
+ <property name="fieldGrowthPolicy">
+ <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLineEdit" name="lineEdit_robotName">
+ <property name="placeholderText">
+ <string>Robot name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="lineEdit_udrfFile">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ <property name="placeholderText">
+ <string>UDRF file</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLineEdit" name="lineEdit_meshDir">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ <property name="placeholderText">
+ <string>Mesh directory</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>lineEdit_robotName</tabstop>
+ <tabstop>lineEdit_udrfFile</tabstop>
+ <tabstop>lineEdit_meshDir</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>Dialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>174</x>
+ <y>131</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>140</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>Dialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>174</x>
+ <y>131</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>189</x>
+ <y>140</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/include/gepetto/gui/ui/dialogloadenvironment.ui b/include/gepetto/gui/ui/dialogloadenvironment.ui
new file mode 100644
index 0000000..40a7801
--- /dev/null
+++ b/include/gepetto/gui/ui/dialogloadenvironment.ui
@@ -0,0 +1,285 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogLoadEnvironment</class>
+ <widget class="QDialog" name="DialogLoadEnvironment">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>440</width>
+ <height>418</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="8" column="1">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="envName">
+ <property name="placeholderText">
+ <string>Environment name</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QPushButton" name="pushButton_details">
+ <property name="text">
+ <string>Details</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Environment name</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0" colspan="2">
+ <widget class="QComboBox" name="comboBox_defs"/>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Select a predifined robot or enter your own descrption files.</string>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>250</width>
+ <height>32</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="7" column="0" colspan="2">
+ <widget class="QGroupBox" name="groupBox_details">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="title">
+ <string>Details</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>URDF Suffix</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="urdfSuffix"/>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="packagePath"/>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="packageName"/>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="urdfFilename"/>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Package</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>URDF filename</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QPushButton" name="pushButton_mesh">
+ <property name="text">
+ <string>Mesh directory</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QPushButton" name="pushButton_package">
+ <property name="text">
+ <string>Package path</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLineEdit" name="meshDirectory"/>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>SRDF Suffix</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLineEdit" name="srdfSuffix"/>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>comboBox_defs</tabstop>
+ <tabstop>envName</tabstop>
+ <tabstop>pushButton_details</tabstop>
+ <tabstop>packageName</tabstop>
+ <tabstop>pushButton_package</tabstop>
+ <tabstop>packagePath</tabstop>
+ <tabstop>urdfFilename</tabstop>
+ <tabstop>pushButton_mesh</tabstop>
+ <tabstop>meshDirectory</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>DialogLoadEnvironment</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>430</x>
+ <y>338</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>DialogLoadEnvironment</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>430</x>
+ <y>338</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButton_details</sender>
+ <signal>toggled(bool)</signal>
+ <receiver>groupBox_details</receiver>
+ <slot>setVisible(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>430</x>
+ <y>126</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>219</x>
+ <y>262</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButton_package</sender>
+ <signal>clicked()</signal>
+ <receiver>DialogLoadEnvironment</receiver>
+ <slot>packagePathSelect()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>94</x>
+ <y>223</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>219</x>
+ <y>163</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButton_mesh</sender>
+ <signal>clicked()</signal>
+ <receiver>DialogLoadEnvironment</receiver>
+ <slot>meshSelect()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>94</x>
+ <y>293</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>219</x>
+ <y>163</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>comboBox_defs</sender>
+ <signal>currentIndexChanged(int)</signal>
+ <receiver>DialogLoadEnvironment</receiver>
+ <slot>envSelect(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>219</x>
+ <y>40</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>219</x>
+ <y>163</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+ <slots>
+ <slot>envSelect(int)</slot>
+ <slot>packagePathSelect()</slot>
+ <slot>meshSelect()</slot>
+ </slots>
+</ui>
diff --git a/include/gepetto/gui/ui/dialogloadrobot.ui b/include/gepetto/gui/ui/dialogloadrobot.ui
new file mode 100644
index 0000000..ee8114e
--- /dev/null
+++ b/include/gepetto/gui/ui/dialogloadrobot.ui
@@ -0,0 +1,301 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DialogLoadRobot</class>
+ <widget class="QDialog" name="DialogLoadRobot">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>284</width>
+ <height>444</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Dialog</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="0" colspan="2">
+ <widget class="QComboBox" name="comboBox_defs"/>
+ </item>
+ <item row="0" column="0" colspan="2">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Select a predifined robot or enter your own descrption files.</string>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="12" column="1">
+ <widget class="QDialogButtonBox" name="buttonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QPushButton" name="pushButton_details">
+ <property name="text">
+ <string>Details</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0" rowspan="2" colspan="2">
+ <widget class="QGroupBox" name="groupBox_details">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="title">
+ <string>Details</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="8" column="0">
+ <widget class="QPushButton" name="pushButton_mesh">
+ <property name="text">
+ <string>Mesh directory</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="modelName"/>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="packageName"/>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="packagePath"/>
+ </item>
+ <item row="7" column="0">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>SRDF suffix</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Package</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QComboBox" name="rootJointType"/>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>URDF suffix</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Model name</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLineEdit" name="urdfSuffix"/>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLineEdit" name="srdfSuffix"/>
+ </item>
+ <item row="8" column="1">
+ <widget class="QLineEdit" name="meshDirectory"/>
+ </item>
+ <item row="5" column="0">
+ <widget class="QPushButton" name="pushButton_package">
+ <property name="text">
+ <string>Package path</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Root joint type</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Robot name</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="robotName">
+ <property name="placeholderText">
+ <string>Robot name</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <tabstops>
+ <tabstop>comboBox_defs</tabstop>
+ <tabstop>robotName</tabstop>
+ <tabstop>pushButton_details</tabstop>
+ <tabstop>rootJointType</tabstop>
+ <tabstop>modelName</tabstop>
+ <tabstop>packageName</tabstop>
+ <tabstop>pushButton_package</tabstop>
+ <tabstop>packagePath</tabstop>
+ <tabstop>urdfSuffix</tabstop>
+ <tabstop>srdfSuffix</tabstop>
+ <tabstop>pushButton_mesh</tabstop>
+ <tabstop>meshDirectory</tabstop>
+ <tabstop>buttonBox</tabstop>
+ </tabstops>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>DialogLoadRobot</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>307</x>
+ <y>102</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>111</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>buttonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>DialogLoadRobot</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>307</x>
+ <y>102</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>111</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButton_mesh</sender>
+ <signal>clicked()</signal>
+ <receiver>DialogLoadRobot</receiver>
+ <slot>meshSelect()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>57</x>
+ <y>68</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>158</x>
+ <y>55</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>comboBox_defs</sender>
+ <signal>currentIndexChanged(int)</signal>
+ <receiver>DialogLoadRobot</receiver>
+ <slot>robotSelect(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>210</x>
+ <y>19</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>158</x>
+ <y>71</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButton_details</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>groupBox_details</receiver>
+ <slot>setVisible(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>48</x>
+ <y>80</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>135</x>
+ <y>189</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pushButton_package</sender>
+ <signal>clicked()</signal>
+ <receiver>DialogLoadRobot</receiver>
+ <slot>packagePathSelect()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>68</x>
+ <y>247</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>135</x>
+ <y>198</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+ <slots>
+ <slot>packagePathSelect()</slot>
+ <slot>meshSelect()</slot>
+ <slot>robotSelect(int)</slot>
+ </slots>
+</ui>
diff --git a/include/gepetto/gui/ui/mainwindow.ui b/include/gepetto/gui/ui/mainwindow.ui
new file mode 100644
index 0000000..f7abb85
--- /dev/null
+++ b/include/gepetto/gui/ui/mainwindow.ui
@@ -0,0 +1,545 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>754</width>
+ <height>728</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>HPP</string>
+ </property>
+ <property name="windowIcon">
+ <iconset theme="hpp-gui">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <widget class="QWidget" name="centralWidget">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">image: url(:/img/gepetto.png);</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_5"/>
+ </widget>
+ <widget class="QMenuBar" name="menuBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>754</width>
+ <height>23</height>
+ </rect>
+ </property>
+ <widget class="QMenu" name="menuFile">
+ <property name="title">
+ <string>&File</string>
+ </property>
+ <addaction name="actionCreate_view"/>
+ <addaction name="actionLoad_robot_from_file"/>
+ <addaction name="actionLoad_environment"/>
+ <addaction name="separator"/>
+ <addaction name="actionQuit"/>
+ </widget>
+ <widget class="QMenu" name="menuWindow">
+ <property name="title">
+ <string>&Window</string>
+ </property>
+ </widget>
+ <widget class="QMenu" name="menuTools">
+ <property name="title">
+ <string>&Tools</string>
+ </property>
+ <addaction name="actionRefresh"/>
+ <addaction name="actionPlugins"/>
+ <addaction name="actionReconnect"/>
+ </widget>
+ <widget class="QMenu" name="menuHelp">
+ <property name="title">
+ <string>&Help</string>
+ </property>
+ <addaction name="actionAbout"/>
+ </widget>
+ <addaction name="menuFile"/>
+ <addaction name="menuTools"/>
+ <addaction name="menuWindow"/>
+ <addaction name="menuHelp"/>
+ </widget>
+ <widget class="QToolBar" name="mainToolBar">
+ <property name="windowTitle">
+ <string>Main</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>12</width>
+ <height>12</height>
+ </size>
+ </property>
+ <attribute name="toolBarArea">
+ <enum>TopToolBarArea</enum>
+ </attribute>
+ <attribute name="toolBarBreak">
+ <bool>false</bool>
+ </attribute>
+ <addaction name="actionPlugins"/>
+ <addaction name="actionReconnect"/>
+ <addaction name="actionRefresh"/>
+ <addaction name="actionFetch_configuration"/>
+ </widget>
+ <widget class="QStatusBar" name="statusBar"/>
+ <widget class="QDockWidget" name="dockWidget_bodyTree">
+ <property name="contextMenuPolicy">
+ <enum>Qt::DefaultContextMenu</enum>
+ </property>
+ <property name="allowedAreas">
+ <set>Qt::LeftDockWidgetArea|Qt::RightDockWidgetArea</set>
+ </property>
+ <property name="windowTitle">
+ <string>&Body tree</string>
+ </property>
+ <attribute name="dockWidgetArea">
+ <number>1</number>
+ </attribute>
+ <widget class="gepetto::gui::BodyTreeWidget" name="bodyTreeContent">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QSplitter" name="splitter">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <widget class="QTreeView" name="bodyTree">
+ <property name="contextMenuPolicy">
+ <enum>Qt::CustomContextMenu</enum>
+ </property>
+ <property name="headerHidden">
+ <bool>true</bool>
+ </property>
+ </widget>
+ <widget class="QScrollArea" name="scrollArea">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="QWidget" name="scrollAreaWidgetContents">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>254</width>
+ <height>129</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QToolBox" name="toolBox">
+ <property name="currentIndex">
+ <number>0</number>
+ </property>
+ <widget class="QWidget" name="Info">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>236</width>
+ <height>80</height>
+ </rect>
+ </property>
+ <attribute name="label">
+ <string>Transparency</string>
+ </attribute>
+ <layout class="QHBoxLayout" name="horizontalLayout"/>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ <widget class="QToolBar" name="osgToolBar">
+ <property name="windowTitle">
+ <string>OSG</string>
+ </property>
+ <property name="toolTip">
+ <string>Selection</string>
+ </property>
+ <property name="iconSize">
+ <size>
+ <width>16</width>
+ <height>16</height>
+ </size>
+ </property>
+ <attribute name="toolBarArea">
+ <enum>TopToolBarArea</enum>
+ </attribute>
+ <attribute name="toolBarBreak">
+ <bool>false</bool>
+ </attribute>
+ <addaction name="actionCamera_control_mode"/>
+ <addaction name="actionSelection"/>
+ <addaction name="actionHome"/>
+ <addaction name="actionAdd_floor"/>
+ </widget>
+ <widget class="QDockWidget" name="dockWidget_log">
+ <property name="windowIcon">
+ <iconset theme="dialog-information">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="windowTitle">
+ <string>&Log</string>
+ </property>
+ <attribute name="dockWidgetArea">
+ <number>1</number>
+ </attribute>
+ <widget class="QWidget" name="dockWidgetContents_4">
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QTextEdit" name="logText">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="clearLogs">
+ <property name="text">
+ <string>Clear logs</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ <action name="actionCreate_view">
+ <property name="icon">
+ <iconset theme="window-new">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Create &view</string>
+ </property>
+ </action>
+ <action name="actionLoad_robot_from_file">
+ <property name="icon">
+ <iconset theme="list-add">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Load &robot from file</string>
+ </property>
+ <property name="shortcut">
+ <string>Ctrl+R</string>
+ </property>
+ </action>
+ <action name="actionQuit">
+ <property name="icon">
+ <iconset theme="window-close">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>&Quit</string>
+ </property>
+ <property name="shortcut">
+ <string>Ctrl+Q</string>
+ </property>
+ </action>
+ <action name="actionLoad_environment">
+ <property name="icon">
+ <iconset theme="list-add">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Load &environment</string>
+ </property>
+ <property name="shortcut">
+ <string>Ctrl+E</string>
+ </property>
+ </action>
+ <action name="actionSelection">
+ <property name="icon">
+ <iconset theme="edit-select">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Select</string>
+ </property>
+ <property name="toolTip">
+ <string>Enter in select mode in the main OSG view</string>
+ </property>
+ </action>
+ <action name="actionHome">
+ <property name="icon">
+ <iconset theme="zoom-fit-best">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Home</string>
+ </property>
+ <property name="toolTip">
+ <string>Zoom to fit</string>
+ </property>
+ </action>
+ <action name="actionPlugins">
+ <property name="icon">
+ <iconset theme="preferences-plugin">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>&Plugins</string>
+ </property>
+ <property name="shortcut">
+ <string>Ctrl+P</string>
+ </property>
+ </action>
+ <action name="actionCamera_control_mode">
+ <property name="icon">
+ <iconset theme="transform-move">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Camera</string>
+ </property>
+ <property name="toolTip">
+ <string>Control the camera of the main OSG widget</string>
+ </property>
+ </action>
+ <action name="actionRefresh">
+ <property name="icon">
+ <iconset theme="view-refresh">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ <property name="toolTip">
+ <string>Refresh the interface (required if you are also using the python interface)</string>
+ </property>
+ <property name="shortcut">
+ <string>F5</string>
+ </property>
+ </action>
+ <action name="actionAdd_floor">
+ <property name="icon">
+ <iconset resource="../../../../res/images.qrc">
+ <normaloff>:/icons/floor.png</normaloff>:/icons/floor.png</iconset>
+ </property>
+ <property name="text">
+ <string>Add floor</string>
+ </property>
+ <property name="toolTip">
+ <string>Add a floor</string>
+ </property>
+ </action>
+ <action name="actionAbout">
+ <property name="text">
+ <string>&About...</string>
+ </property>
+ </action>
+ <action name="actionReconnect">
+ <property name="icon">
+ <iconset theme="network-connect">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Reset connection</string>
+ </property>
+ <property name="shortcut">
+ <string>Shift+F5</string>
+ </property>
+ </action>
+ <action name="actionFetch_configuration">
+ <property name="icon">
+ <iconset theme="mail-receive">
+ <normaloff/>
+ </iconset>
+ </property>
+ <property name="text">
+ <string>Fetch configuration</string>
+ </property>
+ </action>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+ <customwidget>
+ <class>gepetto::gui::BodyTreeWidget</class>
+ <extends>QWidget</extends>
+ <header>gepetto/gui/bodytreewidget.hh</header>
+ <container>1</container>
+ <slots>
+ <slot>customContextMenu(QPoint)</slot>
+ </slots>
+ </customwidget>
+ </customwidgets>
+ <resources>
+ <include location="../../../../res/images.qrc"/>
+ </resources>
+ <connections>
+ <connection>
+ <sender>actionCreate_view</sender>
+ <signal>triggered()</signal>
+ <receiver>MainWindow</receiver>
+ <slot>onCreateView()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>-1</x>
+ <y>-1</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>441</x>
+ <y>358</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>actionLoad_robot_from_file</sender>
+ <signal>triggered()</signal>
+ <receiver>MainWindow</receiver>
+ <slot>openLoadRobotDialog()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>-1</x>
+ <y>-1</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>441</x>
+ <y>358</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>actionQuit</sender>
+ <signal>triggered()</signal>
+ <receiver>MainWindow</receiver>
+ <slot>close()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>-1</x>
+ <y>-1</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>441</x>
+ <y>358</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>actionLoad_environment</sender>
+ <signal>triggered()</signal>
+ <receiver>MainWindow</receiver>
+ <slot>openLoadEnvironmentDialog()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>-1</x>
+ <y>-1</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>287</x>
+ <y>363</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>actionPlugins</sender>
+ <signal>triggered()</signal>
+ <receiver>MainWindow</receiver>
+ <slot>onOpenPluginManager()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>-1</x>
+ <y>-1</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>376</x>
+ <y>363</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>clearLogs</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>logText</receiver>
+ <slot>clear()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>230</x>
+ <y>693</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>135</x>
+ <y>575</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+ <slots>
+ <slot>onCreateView()</slot>
+ <slot>openLoadRobotDialog()</slot>
+ <slot>showTreeContextMenu(QPoint)</slot>
+ <slot>updateJointTree(QModelIndex)</slot>
+ <slot>openLoadEnvironmentDialog()</slot>
+ <slot>reload()</slot>
+ <slot>onOpenPluginManager()</slot>
+ </slots>
+</ui>
diff --git a/include/gepetto/gui/ui/pluginmanagerdialog.ui b/include/gepetto/gui/ui/pluginmanagerdialog.ui
new file mode 100644
index 0000000..028091d
--- /dev/null
+++ b/include/gepetto/gui/ui/pluginmanagerdialog.ui
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PluginManagerDialog</class>
+ <widget class="QDialog" name="PluginManagerDialog">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>400</width>
+ <height>300</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>Plugin Manager</string>
+ </property>
+ <property name="windowIcon">
+ <iconset theme="preferences-plugin">
+ <normaloff/>
+ </iconset>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QTableWidget" name="pluginList">
+ <property name="contextMenuPolicy">
+ <enum>Qt::CustomContextMenu</enum>
+ </property>
+ <column>
+ <property name="text">
+ <string>Name</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>File</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>Version</string>
+ </property>
+ </column>
+ <column>
+ <property name="text">
+ <string>FullPath</string>
+ </property>
+ </column>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="pluginMessage">
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QDialogButtonBox" name="pluginManagerButtonBox">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="standardButtons">
+ <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>pluginManagerButtonBox</sender>
+ <signal>accepted()</signal>
+ <receiver>PluginManagerDialog</receiver>
+ <slot>accept()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>248</x>
+ <y>254</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>157</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>pluginManagerButtonBox</sender>
+ <signal>rejected()</signal>
+ <receiver>PluginManagerDialog</receiver>
+ <slot>reject()</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>316</x>
+ <y>260</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>286</x>
+ <y>274</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
diff --git a/include/gepetto/gui/windows-manager.hh b/include/gepetto/gui/windows-manager.hh
new file mode 100644
index 0000000..6529951
--- /dev/null
+++ b/include/gepetto/gui/windows-manager.hh
@@ -0,0 +1,85 @@
+#ifndef GEPETTO_GUI_WINDOWSMANAGER_HH
+#define GEPETTO_GUI_WINDOWSMANAGER_HH
+
+#include <gepetto/gui/fwd.hh>
+#include <gepetto/viewer/corba/windows-manager.hh>
+
+#include <gepetto/gui/meta.hh>
+#include <QColor>
+#include <QVector3D>
+
+namespace gepetto {
+ namespace gui {
+ template <> struct Traits <gepetto::corbaserver::Color_var> {
+ typedef gepetto::corbaserver::Color_var type;
+ static inline type from (const float* in) {
+ type out = new float[4];
+ convertSequence <float, float> (in, out.inout(), 4);
+ return out;
+ }
+ static inline type from (const double* in) {
+ type out = new float[4];
+ convertSequence <double, float> (in, out.inout(), 4);
+ return out;
+ }
+ static inline type from (const QColor& in) {
+ qreal v[4];
+ in.getRgbF(&v[0],&v[1],&v[2],&v[3]);
+ return from (v);
+ }
+ };
+ template <> struct Traits <gepetto::corbaserver::Position_var> {
+ typedef gepetto::corbaserver::Position_var type;
+ static inline type from (const float* in) {
+ type out = new float[4];
+ convertSequence <float, float> (in, out.inout(), 4);
+ return out;
+ }
+ static inline type from (const double* in) {
+ type out = new float[4];
+ convertSequence <double, float> (in, out.inout(), 4);
+ return out;
+ }
+ static inline type from (const QVector3D& in) {
+ qreal v[3]; v[0] = in.x(); v[1] = in.y(); v[2] = in.z();
+ return from (v);
+ }
+ static inline type from (const int& in) {
+ qreal v[3]; v[0] = in / (qreal)50; v[1] = v[0]; v[2] = v[0];
+ return from (v);
+ }
+
+ };
+
+ template <> struct Traits <int> {
+ struct type {
+ float value;
+ const float& in() { return value; }
+ };
+
+ static inline type from(const int& in) {
+ type out;
+ out.value = (float)(in / 100.0);
+ return out;
+ }
+ };
+
+ class WindowsManager : public graphics::WindowsManager
+ {
+ public:
+ typedef graphics::WindowsManager Parent_t;
+
+ static WindowsManagerPtr_t create ();
+
+ WindowID createWindow(const char *windowNameCorba);
+ WindowID createWindow(const char *windowNameCorba,
+ osgViewer::Viewer* viewer,
+ osg::GraphicsContext *gc);
+
+ protected:
+ WindowsManager ();
+ };
+ } // namespace gui
+} // namespace gepetto
+
+#endif // GEPETTO_GUI_WINDOWSMANAGER_HH
diff --git a/res/floor.png b/res/floor.png
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diff --git a/res/images.qrc b/res/images.qrc
new file mode 100644
index 0000000..9057897
--- /dev/null
+++ b/res/images.qrc
@@ -0,0 +1,18 @@
+<RCC>
+ <qresource prefix="/icons">
+ <file>stop.png</file>
+ <file>pause.png</file>
+ <file>play.png</file>
+ <file>record.png</file>
+ <file>zoom_fit.png</file>
+ <file>refresh.png</file>
+ <file>floor.png</file>
+ </qresource>
+ <qresource prefix="/osg">
+ <file>record.gif</file>
+ <file>selection.png</file>
+ </qresource>
+ <qresource prefix="/img">
+ <file>gepetto.png</file>
+ </qresource>
+</RCC>
diff --git a/res/pause.png b/res/pause.png
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diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt
new file mode 100644
index 0000000..cfe0872
--- /dev/null
+++ b/src/gui/CMakeLists.txt
@@ -0,0 +1,118 @@
+#
+# Copyright (c) 2015 CNRS
+# Authors: Joseph Mirabel
+#
+#
+# This file is part of gepetto-gui
+# gepetto-gui is free software: you can redistribute it
+# and/or modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation, either version
+# 3 of the License, or (at your option) any later version.
+#
+# gepetto-gui is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# General Lesser Public License for more details. You should have
+# received a copy of the GNU Lesser General Public License along with
+# gepetto-gui If not, see
+# <http://www.gnu.org/licenses/>.
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+SET(CMAKE_MODULE_PATH
+ ${CMAKE_SOURCE_DIR}/cmake-modules/
+ ${CMAKE_MODULE_PATH})
+
+FIND_PACKAGE(Qt4 REQUIRED QtCore QtGui QtOpenGl QtNetwork)
+FINDPYTHON(2.7 EXACT)
+FIND_PACKAGE(PythonQt COMPONENTS QtAll)
+
+ADD_REQUIRED_DEPENDENCY("openscenegraph >= 3.2")
+ADD_REQUIRED_DEPENDENCY("openscenegraph-osgQt")
+ADD_REQUIRED_DEPENDENCY("openthreads >= 2.6")
+ADD_REQUIRED_DEPENDENCY("gepetto-viewer-corba")
+
+SET(BOOST_COMPONENTS program_options system thread regex)
+SEARCH_FOR_BOOST ()
+
+FIND_PACKAGE("X11")
+
+# Activate hpp-util logging if requested
+SET (HPP_DEBUG FALSE CACHE BOOL "trigger hpp-util debug output")
+IF (HPP_DEBUG)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DHPP_DEBUG")
+ENDIF()
+
+# Configure the project
+
+SET (${PROJECT_NAME}_SOURCES
+ ${CMAKE_BINARY_DIR}/src/gui/main.cc
+ settings.cc
+ windows-manager.cc
+ safeapplication.cc
+ mainwindow.cc
+ osgwidget.cc
+ pick-handler.cc
+ tree-item.cc
+ omniorbthread.cc
+ bodytreewidget.cc
+ ledindicator.cc
+ dialog/dialogloadrobot.cc
+ dialog/dialogloadenvironment.cc
+ dialog/pluginmanagerdialog.cc
+ )
+
+SET(GEPETTO_GUI_HAS_PYTHONQT ${PYTHONQT_FOUND} CACHE BOOL "Use PythonQt dependency")
+
+IF(GEPETTO_GUI_HAS_PYTHONQT)
+ INCLUDE_DIRECTORIES("${PYTHON_INCLUDE_DIR}" "${PYTHONQT_INCLUDE_DIR}")
+
+ SET (${PROJECT_NAME}_HEADERS_MOC
+ ${${PROJECT_NAME}_HEADERS_MOC}
+ ${CMAKE_SOURCE_DIR}/include/gepetto/gui/pythonwidget.hh)
+ SET (${PROJECT_NAME}_SOURCES
+ ${${PROJECT_NAME}_SOURCES}
+ pythonwidget.cc)
+ELSE (GEPETTO_GUI_HAS_PYTHONQT)
+ MESSAGE(STATUS "Skipping PythonQt settings")
+ENDIF(GEPETTO_GUI_HAS_PYTHONQT)
+
+SET (${PROJECT_NAME}_HEADERS
+ ${${PROJECT_NAME}_HEADERS_MOC}
+ ${${PROJECT_NAME}_HEADERS_NO_MOC}
+ )
+
+# Compile meta-objects and executable
+
+QT4_WRAP_CPP(${PROJECT_NAME}_HEADERS_MOCED ${${PROJECT_NAME}_HEADERS_MOC})
+QT4_WRAP_UI(${PROJECT_NAME}_FORMS_HEADERS ${${PROJECT_NAME}_FORMS})
+QT4_ADD_RESOURCES(${PROJECT_NAME}_RESOURCES_RCC ${${PROJECT_NAME}_RESOURCES})
+
+INCLUDE(${QT_USE_FILE})
+ADD_DEFINITIONS(${QT_DEFINITIONS})
+
+ADD_EXECUTABLE(gepetto-gui ${${PROJECT_NAME}_SOURCES}
+ ${${PROJECT_NAME}_HEADERS_MOCED}
+ ${${PROJECT_NAME}_HEADERS_NO_MOC}
+ ${${PROJECT_NAME}_FORMS_HEADERS}
+ ${${PROJECT_NAME}_RESOURCES_RCC}
+ )
+
+INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src/gui)
+
+TARGET_LINK_LIBRARIES(gepetto-gui ${QT_LIBRARIES})
+PKG_CONFIG_USE_DEPENDENCY(gepetto-gui openscenegraph)
+PKG_CONFIG_USE_DEPENDENCY(gepetto-gui openthreads)
+PKG_CONFIG_USE_DEPENDENCY(gepetto-gui gepetto-viewer-corba)
+PKG_CONFIG_USE_DEPENDENCY(gepetto-gui openscenegraph-osgQt)
+IF (GEPETTO_GUI_HAS_PYTHONQT)
+ TARGET_LINK_LIBRARIES(gepetto-gui ${PYTHONQT_LIBRARIES})
+ENDIF (GEPETTO_GUI_HAS_PYTHONQT)
+TARGET_LINK_LIBRARIES(gepetto-gui ${X11_LIBRARIES} ${Boost_LIBRARIES})
+
+INSTALL(TARGETS gepetto-gui DESTINATION lib)
+
+INSTALL(FILES ${CMAKE_BINARY_DIR}/src/gui/gepetto-gui
+ DESTINATION bin
+ PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+ )
diff --git a/src/gui/bodytreewidget.cc b/src/gui/bodytreewidget.cc
new file mode 100644
index 0000000..591ade1
--- /dev/null
+++ b/src/gui/bodytreewidget.cc
@@ -0,0 +1,168 @@
+#include <gepetto/gui/bodytreewidget.hh>
+
+#include <gepetto/gui/tree-item.hh>
+#include <gepetto/gui/mainwindow.hh>
+#include <gepetto/gui/windows-manager.hh>
+#include <gepetto/gui/osgwidget.hh>
+#include <gepetto/gui/meta.hh>
+
+#include <QSignalMapper>
+#include <QColorDialog>
+
+static void addSelector (QToolBox* tb, QString title, QStringList display, QStringList command,
+ QObject* receiver, const char* slot) {
+ QWidget* newW = new QWidget();
+ newW->setObjectName(title);
+ QSignalMapper* mapper = new QSignalMapper (tb);
+ QHBoxLayout* layout = new QHBoxLayout(newW);
+ layout->setSpacing(6);
+ layout->setContentsMargins(11, 11, 11, 11);
+ layout->setObjectName(title + "_layout");
+ for (int i = 0; i < display.size(); ++i) {
+ QPushButton* button = new QPushButton(display[i], newW);
+ button->setObjectName(title + "_button_" + display[i]);
+ layout->addWidget (button);
+ mapper->setMapping(button, command[i]);
+ QObject::connect (button, SIGNAL(clicked(bool)), mapper, SLOT(map()));
+ }
+ receiver->connect (mapper, SIGNAL(mapped(QString)), slot);
+ tb->addItem(newW, title);
+}
+
+static void addColorSelector (QToolBox* tb, QString title, QObject* receiver, const char* slot) {
+ QWidget* newW = new QWidget();
+ newW->setObjectName(title);
+ QHBoxLayout* layout = new QHBoxLayout();
+ newW->setLayout(layout);
+ layout->setSpacing(6);
+ layout->setContentsMargins(11, 11, 11, 11);
+ layout->setObjectName(title + "_layout");
+ QPushButton* button = new QPushButton("Select color", newW);
+ button->setObjectName(title + "_buttonSelect");
+ layout->addWidget (button);
+
+ QColorDialog* colorDialog = new QColorDialog(newW);
+ colorDialog->setObjectName(title + "_colorDialog");
+ colorDialog->setOption(QColorDialog::ShowAlphaChannel, true);
+
+ colorDialog->connect(button, SIGNAL(clicked()), SLOT(open()));
+ receiver->connect (colorDialog, SIGNAL(colorSelected(QColor)), slot);
+ tb->addItem(newW, title);
+}
+
+static void addSlider (QToolBox* tb, QString title, QObject* receiver, const char* slot) {
+ QSlider* slider = new QSlider (Qt::Horizontal);
+ slider->setMinimum(0);
+ slider->setMaximum(100);
+ slider->setObjectName(title);
+
+ receiver->connect (slider, SIGNAL(valueChanged(int)), slot);
+ tb->addItem(slider, title);
+}
+
+namespace gepetto {
+ namespace gui {
+ void BodyTreeWidget::init(QTreeView* view, QToolBox *toolBox)
+ {
+ MainWindow* main = MainWindow::instance();
+ osg_ = main->osg();
+ view_ = view;
+ toolBox_ = toolBox;
+ model_ = new QStandardItemModel (this);
+ view_->setModel(model_);
+ view_->setSelectionMode(QAbstractItemView::SingleSelection);
+
+ connect (main, SIGNAL (refresh()), SLOT (reloadBodyTree()));
+ connect (view_, SIGNAL (customContextMenuRequested(QPoint)), SLOT(customContextMenu(QPoint)));
+
+ toolBox_->removeItem(0);
+ addSlider(toolBox_, "Transparency", this, SLOT(setTransparency(int)));
+ addSelector (toolBox_, "Visibility",
+ QStringList () << "On" << "Always on top" << "Off",
+ QStringList () << "ON" << "ALWAYS_ON_TOP" << "OFF",
+ this, SLOT(setVisibilityMode(QString)));
+ addSelector (toolBox_, "Wireframe mode",
+ QStringList () << "Fill" << "Both" << "Wireframe",
+ QStringList () << "FILL" << "FILL_AND_WIREFRAME" << "WIREFRAME",
+ this, SLOT(setWireFrameMode(QString)));
+ addColorSelector(toolBox_, "Color", this, SLOT(setColor(QColor)));
+ addSlider(toolBox_, "Scale", this, SLOT(setScale(int)));
+ }
+
+ QTreeView* BodyTreeWidget::view ()
+ {
+ return view_;
+ }
+
+ void BodyTreeWidget::selectBodyByName(const QString bodyName)
+ {
+ QList<QStandardItem*> matches;
+ if (!bodyName.isEmpty() && !bodyName.isNull()) {
+ matches = model_->findItems(bodyName, Qt::MatchFixedString
+ | Qt::MatchCaseSensitive
+ | Qt::MatchRecursive);
+ }
+ if (matches.empty()) {
+ qDebug () << "Body" << bodyName << "not found.";
+ view_->clearSelection();
+ } else {
+ view_->setCurrentIndex(matches.first()->index());
+ }
+ }
+
+ void BodyTreeWidget::selectBodyByName (const std::string& bodyName)
+ {
+ qDebug () << "Use QString instead of std::string";
+ return selectBodyByName (QString::fromStdString (bodyName));
+ }
+
+ void BodyTreeWidget::reloadBodyTree()
+ {
+ model_->clear();
+ std::vector <std::string> sceneNames = osg_->getSceneList ();
+ for (unsigned int i = 0; i < sceneNames.size(); ++i) {
+ graphics::GroupNodePtr_t group = osg_->getScene(sceneNames[i]);
+ if (!group) continue;
+ addBodyToTree(group);
+ }
+ }
+
+ void BodyTreeWidget::addBodyToTree(graphics::GroupNodePtr_t group)
+ {
+ model_->appendRow(new BodyTreeItem (this, group));
+ }
+
+ void BodyTreeWidget::customContextMenu(const QPoint &pos)
+ {
+ QModelIndex index = view_->indexAt(pos);
+ if(index.isValid()) {
+ BodyTreeItem *item = dynamic_cast <BodyTreeItem*>
+ (model_->itemFromIndex(index));
+ if (!item) return;
+ MainWindow* main = MainWindow::instance ();
+ QMenu contextMenu (tr("Node"));
+ item->populateContextMenu (&contextMenu);
+ QMenu* windows = contextMenu.addMenu(tr("Attach to window"));
+ foreach (OSGWidget* w, main->osgWindows ()) {
+ JointAction* ja = new JointAction (w->objectName(), item->node()->getID(), windows);
+ windows->addAction (ja);
+ w->connect(ja, SIGNAL(triggered(std::string)), SLOT(attachToWindow(std::string)));
+ }
+ contextMenu.exec(view_->mapToGlobal(pos));
+ }
+ }
+
+ void BodyTreeWidget::changeAlphaValue(const float& alpha)
+ {
+ QSlider *tr = qobject_cast<QSlider *>(toolBox_->widget(0));
+
+ tr->setValue((int)alpha * 100);
+ }
+
+ GEPETTO_GUI_BODYTREE_IMPL_FEATURE (setTransparency, int, int, setAlpha)
+ GEPETTO_GUI_BODYTREE_IMPL_FEATURE (setVisibilityMode, QString, CORBA::String_var, setVisibility)
+ GEPETTO_GUI_BODYTREE_IMPL_FEATURE (setWireFrameMode, QString, CORBA::String_var, setWireFrameMode)
+ GEPETTO_GUI_BODYTREE_IMPL_FEATURE (setColor, QColor, gepetto::corbaserver::Color_var, setColor)
+ GEPETTO_GUI_BODYTREE_IMPL_FEATURE (setScale, int, gepetto::corbaserver::Position_var, setScale)
+ }
+}
diff --git a/src/gui/dialog/dialogloadenvironment.cc b/src/gui/dialog/dialogloadenvironment.cc
new file mode 100644
index 0000000..d5ec383
--- /dev/null
+++ b/src/gui/dialog/dialogloadenvironment.cc
@@ -0,0 +1,98 @@
+#include "gepetto/gui/dialog/dialogloadenvironment.hh"
+#include "ui_dialogloadenvironment.h"
+
+#include <QDir>
+#include <QMessageBox>
+#include <QFileDialog>
+
+namespace gepetto {
+ namespace gui {
+ QList <DialogLoadEnvironment::EnvironmentDefinition> DialogLoadEnvironment::definitions =
+ QList <DialogLoadEnvironment::EnvironmentDefinition>()
+ << DialogLoadEnvironment::EnvironmentDefinition ();
+
+ DialogLoadEnvironment::DialogLoadEnvironment(QWidget *parent) :
+ QDialog(parent),
+ ui_(new ::Ui::DialogLoadEnvironment)
+ {
+ ui_->setupUi(this);
+ ui_->groupBox_details->setVisible (false);
+ defs_ = ui_->comboBox_defs;
+ defs_->setFocus();
+
+ foreach (EnvironmentDefinition r, definitions) {
+ defs_->addItem(r.name_, QVariant::fromValue(r));
+ }
+ }
+
+ DialogLoadEnvironment::~DialogLoadEnvironment()
+ {
+ delete ui_;
+ }
+
+ void DialogLoadEnvironment::addEnvironmentDefinition(QString name, QString envName, QString package, QString packagePath, QString urdfFilename, QString urdfSuffix, QString srdfSuffix, QString meshDirectory)
+ {
+ definitions.append(EnvironmentDefinition (name, envName, package, packagePath, urdfFilename, urdfSuffix, srdfSuffix, meshDirectory));
+ }
+
+ QList<DialogLoadEnvironment::EnvironmentDefinition> DialogLoadEnvironment::getEnvironmentDefinitions()
+ {
+ return definitions;
+ }
+
+ void DialogLoadEnvironment::accept()
+ {
+ QDir d (ui_->packagePath->text ());
+ if (!d.cd("urdf")) {
+ QMessageBox (QMessageBox::Warning, "Directory not found", d.absolutePath(), QMessageBox::Ok, this).exec();
+ return;
+ }
+ if (!d.exists(ui_->urdfFilename->text () + ".urdf")) {
+ QMessageBox (QMessageBox::Warning, "File not found", d.absoluteFilePath(ui_->urdfFilename->text() + ".urdf"), QMessageBox::Ok, this).exec();
+ return;
+ }
+ if (!QDir (ui_->meshDirectory->text ()).exists()) {
+ QMessageBox (QMessageBox::Warning, "File not found", ui_->meshDirectory->text (), QMessageBox::Ok, this).exec();
+ return;
+ }
+ selected_ = EnvironmentDefinition (defs_->currentText() ,
+ ui_->envName->text(),
+ ui_->packageName->text(),
+ ui_->packagePath->text(),
+ ui_->urdfFilename->text(),
+ ui_->urdfSuffix->text(),
+ ui_->srdfSuffix->text(),
+ ui_->meshDirectory->text());
+ done(QDialog::Accepted);
+ }
+
+ void DialogLoadEnvironment::meshSelect()
+ {
+ ui_->meshDirectory->setText(
+ QFileDialog::getExistingDirectory(
+ this, "Mesh data directory", ui_->meshDirectory->text()));
+ }
+
+ void DialogLoadEnvironment::packagePathSelect()
+ {
+ QDir path (QFileDialog::getExistingDirectory(this, "Package", ui_->packagePath->text ()));
+ ui_->packagePath->setText(path.absolutePath());
+ ui_->packageName->setText(path.dirName());
+ if (ui_->meshDirectory->text().isEmpty())
+ ui_->meshDirectory->setText(path.absolutePath());
+ }
+
+ void DialogLoadEnvironment::envSelect(int index)
+ {
+ QVariant v = defs_->itemData(index);
+ if (v.canConvert <EnvironmentDefinition>()) {
+ EnvironmentDefinition rd = v.value <EnvironmentDefinition> ();
+ ui_->envName->setText(rd.envName_);
+ ui_->packageName->setText(rd.package_);
+ ui_->packagePath->setText(rd.packagePath_);
+ ui_->urdfFilename->setText(rd.urdfFilename_);
+ ui_->meshDirectory->setText(rd.mesh_);
+ }
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/dialog/dialogloadrobot.cc b/src/gui/dialog/dialogloadrobot.cc
new file mode 100644
index 0000000..278fe86
--- /dev/null
+++ b/src/gui/dialog/dialogloadrobot.cc
@@ -0,0 +1,104 @@
+#include "gepetto/gui/dialog/dialogloadrobot.hh"
+#include "ui_dialogloadrobot.h"
+
+#include <QDir>
+#include <QMessageBox>
+#include <QFileDialog>
+
+namespace gepetto {
+ namespace gui {
+ QStringList DialogLoadRobot::rootJointTypes = QStringList () << "freeflyer" << "planar" << "anchor";
+
+ QList <DialogLoadRobot::RobotDefinition> DialogLoadRobot::definitions =
+ QList <DialogLoadRobot::RobotDefinition>()
+ << DialogLoadRobot::RobotDefinition ();
+
+ DialogLoadRobot::DialogLoadRobot(QWidget *parent) :
+ QDialog(parent),
+ ui_(new ::Ui::DialogLoadRobot)
+ {
+ ui_->setupUi(this);
+ ui_->groupBox_details->setVisible (false);
+
+ ui_->rootJointType->addItems (rootJointTypes);
+ defs_ = ui_->comboBox_defs;
+
+ foreach (RobotDefinition r, definitions) {
+ defs_->addItem(r.name_, QVariant::fromValue(r));
+ }
+ }
+
+ DialogLoadRobot::~DialogLoadRobot()
+ {
+ delete ui_;
+ }
+
+ void DialogLoadRobot::addRobotDefinition(QString name, QString robotName, QString rootJointType, QString modelName, QString package, QString packagePath, QString urdfSuffix, QString srdfSuffix, QString meshDirectory)
+ {
+ definitions.append(RobotDefinition (name, robotName, rootJointType, modelName, package, packagePath, urdfSuffix, srdfSuffix, meshDirectory));
+ }
+
+ QList<DialogLoadRobot::RobotDefinition> DialogLoadRobot::getRobotDefinitions()
+ {
+ return definitions;
+ }
+
+ void DialogLoadRobot::accept()
+ {
+ QDir d (ui_->packagePath->text ());
+ if (!d.cd("urdf")) {
+ QMessageBox (QMessageBox::Warning, "Directory not found", d.absolutePath(), QMessageBox::Ok, this).exec();
+ return;
+ }
+ if (!d.exists(ui_->modelName->text () + ui_->urdfSuffix->text () + ".urdf")) {
+ QMessageBox (QMessageBox::Warning, "File not found", d.absoluteFilePath(ui_->modelName->text () + ui_->urdfSuffix->text () + ".urdf"), QMessageBox::Ok, this).exec();
+ return;
+ }
+ if (!QDir (ui_->meshDirectory->text ()).exists()) {
+ QMessageBox (QMessageBox::Warning, "File not found", ui_->meshDirectory->text (), QMessageBox::Ok, this).exec();
+ return;
+ }
+ selected_ = RobotDefinition (defs_->currentText() ,
+ ui_->robotName->text(),
+ ui_->rootJointType->currentText(),
+ ui_->modelName->text(),
+ ui_->packageName->text(),
+ ui_->packagePath->text(),
+ ui_->urdfSuffix->text(),
+ ui_->srdfSuffix->text(),
+ ui_->meshDirectory->text());
+ done(QDialog::Accepted);
+ }
+
+ void DialogLoadRobot::packagePathSelect ()
+ {
+ QDir path (QFileDialog::getExistingDirectory(this, "Package", ui_->packagePath->text ()));
+ ui_->packagePath->setText(path.absolutePath());
+ ui_->packageName->setText(path.dirName());
+ if (ui_->meshDirectory->text().isEmpty())
+ ui_->meshDirectory->setText(path.absolutePath());
+ }
+
+ void DialogLoadRobot::robotSelect(int index)
+ {
+ QVariant v = defs_->itemData(index);
+ if (v.canConvert <RobotDefinition>()) {
+ RobotDefinition rd = v.value <RobotDefinition> ();
+ ui_->robotName->setText(rd.robotName_);
+ ui_->modelName->setText(rd.modelName_);
+ if (rootJointTypes.contains(rd.rootJointType_))
+ ui_->rootJointType->setCurrentIndex (rootJointTypes.indexOf(rd.rootJointType_));
+ ui_->packageName->setText(rd.package_);
+ ui_->packagePath->setText(rd.packagePath_);
+ ui_->urdfSuffix->setText(rd.urdfSuf_);
+ ui_->srdfSuffix->setText(rd.srdfSuf_);
+ ui_->meshDirectory->setText(rd.mesh_);
+ }
+ }
+
+ void DialogLoadRobot::meshSelect ()
+ {
+ ui_->meshDirectory->setText(QFileDialog::getExistingDirectory(this, "Mesh data directory", ui_->meshDirectory->text()));
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/dialog/pluginmanagerdialog.cc b/src/gui/dialog/pluginmanagerdialog.cc
new file mode 100644
index 0000000..3f1f21e
--- /dev/null
+++ b/src/gui/dialog/pluginmanagerdialog.cc
@@ -0,0 +1,184 @@
+#include "gepetto/gui/dialog/pluginmanagerdialog.hh"
+#include "ui_pluginmanagerdialog.h"
+
+#include <QDebug>
+
+#include "gepetto/gui/plugin-interface.hh"
+
+#include <iostream>
+
+namespace gepetto {
+ namespace gui {
+ QList <QDir> PluginManager::pluginDirs_;
+
+ bool PluginManager::add(const QString &name, QWidget *parent, bool init)
+ {
+ if (!plugins_.contains(name)) {
+ QString filename = name;
+ if (!QDir::isAbsolutePath(name)) {
+ foreach (QDir dir, pluginDirs_) {
+ if (dir.exists(name)) {
+ filename = dir.absoluteFilePath(name);
+ }
+ }
+ }
+ plugins_[name] = new QPluginLoader (filename, parent);
+ }
+ if (!plugins_[name]->load()) {
+ qDebug() << name << ": " << plugins_[name]->errorString();
+ return false;
+ }
+ if (init) return initPlugin(name);
+ return false;
+ }
+
+ QIcon PluginManager::icon(const QPluginLoader *pl)
+ {
+ if (pl->isLoaded()) {
+ const PluginInterface* pi = const_instance_cast <PluginInterface> (pl);
+ if (pi && pi->isInit ()) {
+ return QApplication::style()->standardIcon(QStyle::SP_MessageBoxInformation);
+ }
+ }
+ return QApplication::style()->standardIcon(QStyle::SP_MessageBoxCritical);
+ }
+
+ QString PluginManager::status(const QPluginLoader *pl)
+ {
+ if (pl->isLoaded()) {
+ const PluginInterface* pi = const_instance_cast <PluginInterface> (pl);
+ if (pi) {
+ if (pi->isInit ())
+ return QString ("Plugin loaded correctly");
+ else
+ return pi->errorMsg ();
+ } else
+ return QString ("Wrong interface");
+ } else
+ return pl->errorString();
+ }
+
+ void PluginManager::addPluginDir(const QString &path)
+ {
+ QDir dir (QDir::cleanPath(path));
+ QDir can (dir.canonicalPath());
+ if (can.exists() && can.isReadable())
+ {
+ pluginDirs_.append (can);
+ }
+ }
+
+ bool PluginManager::initPlugin(const QString &name)
+ {
+ if (!plugins_[name]->isLoaded()) {
+ qDebug() << name << ": " << plugins_[name]->errorString();
+ return false;
+ }
+ PluginInterface* pi = qobject_cast <PluginInterface*> (plugins_[name]->instance());
+ if (!pi) {
+ qDebug() << name << ": Wrong interface.";
+ return false;
+ }
+ pi->doInit();
+ return pi->isInit ();
+ }
+
+ bool PluginManager::unloadPlugin(const QString &name)
+ {
+ return plugins_[name]->unload();
+ }
+
+ PluginManagerDialog::PluginManagerDialog(PluginManager *pm, QWidget *parent) :
+ QDialog(parent),
+ ui_(new ::Ui::PluginManagerDialog),
+ pm_ (pm)
+ {
+ ui_->setupUi(this);
+
+ updateList ();
+
+ ui_->pluginList->setColumnHidden(FILE, true);
+
+ connect(ui_->pluginList, SIGNAL (currentItemChanged (QTableWidgetItem*,QTableWidgetItem*)),
+ this, SLOT (onItemChanged(QTableWidgetItem*,QTableWidgetItem*)));
+ connect(ui_->pluginList, SIGNAL(customContextMenuRequested(QPoint)),
+ this, SLOT(contextMenu(QPoint)));
+ }
+
+ PluginManagerDialog::~PluginManagerDialog()
+ {
+ delete ui_;
+ }
+
+ void PluginManagerDialog::onItemChanged(QTableWidgetItem *current,
+ QTableWidgetItem */*previous*/)
+ {
+ if (!current) return;
+ QString key = ui_->pluginList->item(current->row(), FILE)->text();
+ const QPluginLoader* pl = pm_->plugins()[key];
+ ui_->pluginMessage->setText(pm_->status (pl));
+ }
+
+ void PluginManagerDialog::contextMenu(const QPoint &pos)
+ {
+ int row = ui_->pluginList->rowAt(pos.y());
+ if (row == -1) return;
+ QString key = ui_->pluginList->item(row, FILE)->text();
+ QMenu contextMenu (tr("Plugin"), ui_->pluginList);
+ if (pm_->plugins()[key]->isLoaded()) {
+ QAction* unload = contextMenu.addAction("&Unload", &signalMapper_, SLOT(map()));
+ signalMapper_.setMapping (unload, key);
+ connect(&signalMapper_, SIGNAL (mapped(QString)), this, SLOT(unload(QString)));
+ contextMenu.exec(ui_->pluginList->mapToGlobal(pos));
+ } else {
+ QAction* load = contextMenu.addAction("&Load", &signalMapper_, SLOT(map()));
+ signalMapper_.setMapping (load, key);
+ connect(&signalMapper_, SIGNAL (mapped(QString)), this, SLOT(load(QString)));
+ contextMenu.exec(ui_->pluginList->mapToGlobal(pos));
+ }
+ }
+
+ void PluginManagerDialog::load(const QString &name)
+ {
+ pm_->initPlugin(name);
+ updateList ();
+ }
+
+ void PluginManagerDialog::unload(const QString &name)
+ {
+ pm_->unloadPlugin (name);
+ updateList ();
+ }
+
+ const std::size_t PluginManagerDialog::NAME = 0;
+ const std::size_t PluginManagerDialog::FILE = 1;
+ const std::size_t PluginManagerDialog::VERSION = 2;
+ const std::size_t PluginManagerDialog::FULLPATH = 3;
+
+ void PluginManagerDialog::updateList()
+ {
+ while (ui_->pluginList->rowCount() > 0)
+ ui_->pluginList->removeRow(0);
+ for (PluginManager::Map::const_iterator p = pm_->plugins ().constBegin();
+ p != pm_->plugins().constEnd(); p++) {
+ QString name = p.value()->fileName(),
+ filename = p.key(),
+ fullpath = p.value()->fileName(),
+ version = "";
+ if (p.value ()->isLoaded ()) {
+ PluginInterface* pi = qobject_cast <PluginInterface*> (p.value()->instance());
+ name = pi->name();
+ // version = pi->version();
+ }
+ QIcon icon = pm_->icon (p.value());
+
+ ui_->pluginList->insertRow(ui_->pluginList->rowCount());
+ ui_->pluginList->setItem(ui_->pluginList->rowCount() - 1, NAME, new QTableWidgetItem (icon, name));
+ ui_->pluginList->setItem(ui_->pluginList->rowCount() - 1, FILE, new QTableWidgetItem (filename));
+ ui_->pluginList->setItem(ui_->pluginList->rowCount() - 1, VERSION, new QTableWidgetItem (version));
+ ui_->pluginList->setItem(ui_->pluginList->rowCount() - 1, FULLPATH, new QTableWidgetItem (fullpath));
+ }
+ ui_->pluginList->resizeColumnsToContents();
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/gepetto-gui.in b/src/gui/gepetto-gui.in
new file mode 100644
index 0000000..32f264e
--- /dev/null
+++ b/src/gui/gepetto-gui.in
@@ -0,0 +1,7 @@
+#!/bin/sh
+
+INSTALL_DIR="@CMAKE_INSTALL_PREFIX@"
+export LD_LIBRARY_PATH="${INSTALL_DIR}/lib/gepetto-gui-plugins:$LD_LIBRARY_PATH"
+export GEPETTO_GUI_SETTINGS_DIR="${INSTALL_DIR}/etc"
+
+${INSTALL_DIR}/lib/gepetto-gui $@
diff --git a/src/gui/ledindicator.cc b/src/gui/ledindicator.cc
new file mode 100644
index 0000000..7a56f2f
--- /dev/null
+++ b/src/gui/ledindicator.cc
@@ -0,0 +1,40 @@
+#include "gepetto/gui/ledindicator.hh"
+
+#include <QPainter>
+#include <QPalette>
+#include <QColor>
+#include <QMouseEvent>
+
+namespace gepetto {
+ namespace gui {
+ LedIndicator::LedIndicator(QWidget *parent):
+ QWidget(parent),
+ width(28), height(12) {
+ setFixedSize(width, height);
+ lit = false;
+ }
+
+ void LedIndicator::paintEvent(QPaintEvent *) {
+ QPainter p(this);
+ p.fillRect(0,0,width,height,lit?Qt::green:Qt::red);
+ }
+
+ void LedIndicator::mouseReleaseEvent(QMouseEvent *event)
+ {
+ if (event->button() == Qt::LeftButton) {
+ emit mouseClickEvent ();
+ }
+ }
+
+ void LedIndicator::switchLed() {
+ lit = ! lit;
+ repaint();
+ emit switched(lit);
+ }
+
+ void LedIndicator::switchLed(bool on) {
+ if (lit == on) return;
+ switchLed();
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/main.cc.in b/src/gui/main.cc.in
new file mode 100644
index 0000000..e710f84
--- /dev/null
+++ b/src/gui/main.cc.in
@@ -0,0 +1,91 @@
+#include <QtGui/QApplication>
+#include <QSettings>
+#include <QCleanlooksStyle>
+#include <QProcessEnvironment>
+#include <QSplashScreen>
+
+#include "gepetto/gui/safeapplication.hh"
+#include "gepetto/gui/mainwindow.hh"
+#include "gepetto/gui/dialog/pluginmanagerdialog.hh"
+#include "gepetto/gui/settings.hh"
+
+#include <X11/Xlib.h>
+
+using namespace gepetto::gui;
+
+void setupEnvironment ()
+{
+ QCoreApplication::setOrganizationName("gepetto-gui");
+ QCoreApplication::setOrganizationDomain("https://github.com/jmirabel/gepetto-viewer-corba");
+ QCoreApplication::setApplicationName("gepetto-gui");
+ QCoreApplication::setApplicationVersion("@PROJECT_VERSION@");
+
+ QProcessEnvironment env = QProcessEnvironment::systemEnvironment();
+ if (env.contains ("GEPETTO_GUI_SETTINGS_DIR")) {
+ QSettings::setPath(QSettings::IniFormat,
+ QSettings::SystemScope, env.value("GEPETTO_GUI_SETTINGS_DIR"));
+ QSettings::setPath(QSettings::NativeFormat,
+ QSettings::SystemScope, env.value("GEPETTO_GUI_SETTINGS_DIR"));
+ } else {
+ QSettings::setPath(QSettings::IniFormat,
+ QSettings::SystemScope, "@CMAKE_INSTALL_PREFIX@/etc");
+ QSettings::setPath(QSettings::NativeFormat,
+ QSettings::SystemScope, "@CMAKE_INSTALL_PREFIX@/etc");
+ }
+
+ foreach (QString p, env.value("LD_LIBRARY_PATH").split(':')) {
+ PluginManager::addPluginDir (p + "/gepetto-gui-plugins");
+ }
+ // Finally, add all the folders contained in the folder "plugins"
+ // in the executable directory. This is convenient for developpers. When
+ // running "hpp-gui" from the build directory, the current build plugins are
+ // loaded instead of the installed versions.
+ // Thus, they do not have to be installed before launching the GUI.
+ // TODO: A better way to achieve this would be to use environment variables.
+ QDir here (QCoreApplication::applicationDirPath ());
+ here.cd ("plugins");
+ if (here.exists () && here.isReadable ()) {
+ foreach (QString dir, here.entryList (QDir::AllDirs)) {
+ PluginManager::addPluginDir (here.absoluteFilePath(dir));
+ }
+ }
+
+ QIcon::setThemeName("oxygen");
+}
+
+int main(int argc, char *argv[])
+{
+ XInitThreads();
+
+ SafeApplication a(argc, argv);
+ a.setStyle(new QCleanlooksStyle);
+
+ setupEnvironment();
+
+ Settings settings;
+ switch (settings.fromArgv (argc, argv)) {
+ case 0:
+ break;
+ case 1:
+ return 0;
+ case 2:
+ return 1;
+ default:
+ qDebug () << "Settings.fromArgv returned unknow error code";
+ break;
+ }
+ settings.fromFiles ();
+
+ QPixmap pixmap(":/img/gepetto.png");
+ QSplashScreen splash(pixmap);
+ splash.show();
+ a.processEvents ();
+
+ MainWindow w (&settings);
+ settings.setMainWindow (&w);
+ settings.initPlugins ();
+ w.connect (&a, SIGNAL (log(QString)), SLOT (logError(const QString&)));
+ w.show();
+ splash.finish(&w);
+ return a.exec();
+}
diff --git a/src/gui/mainwindow.cc b/src/gui/mainwindow.cc
new file mode 100644
index 0000000..f994da7
--- /dev/null
+++ b/src/gui/mainwindow.cc
@@ -0,0 +1,421 @@
+#include "gepetto/gui/mainwindow.hh"
+#include "ui_mainwindow.h"
+
+#include <gepetto/viewer/corba/server.hh>
+
+#include "gepetto/gui/windows-manager.hh"
+#include "gepetto/gui/osgwidget.hh"
+#include "gepetto/gui/tree-item.hh"
+#include "gepetto/gui/dialog/dialogloadrobot.hh"
+#include "gepetto/gui/dialog/dialogloadenvironment.hh"
+#include "gepetto/gui/plugin-interface.hh"
+
+#include <gepetto/gui/meta.hh>
+
+#if GEPETTO_GUI_HAS_PYTHONQT
+# include <gepetto/gui/pythonwidget.hh>
+#endif
+
+namespace gepetto {
+ namespace gui {
+ MainWindow* MainWindow::instance_ = NULL;
+
+ MainWindow::MainWindow(Settings* settings, QWidget *parent) :
+ QMainWindow(parent),
+ settings_ (settings),
+ ui_(new ::Ui::MainWindow),
+ centralWidget_ (),
+ osgViewerManagers_ (WindowsManager::create()),
+ osgServer_ (NULL),
+ backgroundQueue_(),
+ worker_ ()
+ {
+ MainWindow::instance_ = this;
+ ui_->setupUi(this);
+
+ if (settings_->startGepettoCorbaServer) {
+ osgServer_ = new CorbaServer (new ViewerServerProcess (
+ new graphics::corbaServer::Server (
+ osgViewerManagers_, 0, NULL, true)));
+ osgServer_->start();
+ }
+ // This scene contains elements required for User Interaction.
+ osg()->createScene("hpp-gui");
+
+ // Setup the body tree view
+ ui_->bodyTreeContent->init(ui_->bodyTree, ui_->toolBox);
+
+ // Setup the main OSG widget
+ connect (this, SIGNAL (createView(QString)), SLOT (onCreateView(QString)));
+
+ connect (ui_->actionRefresh, SIGNAL (triggered()), SLOT (requestRefresh()));
+
+ connect (&backgroundQueue_, SIGNAL (done(int)), this, SLOT (handleWorkerDone(int)));
+ connect (&backgroundQueue_, SIGNAL (failed(int,const QString&)),
+ this, SLOT (logJobFailed(int, const QString&)));
+ connect (this, SIGNAL (sendToBackground(WorkItem*)),
+ &backgroundQueue_, SLOT (perform(WorkItem*)));
+ backgroundQueue_.moveToThread(&worker_);
+ worker_.start();
+
+ setupInterface();
+#if GEPETTO_GUI_HAS_PYTHONQT
+ pythonWidget_ = new PythonWidget(this);
+ insertDockWidget(pythonWidget_, Qt::RightDockWidgetArea, Qt::Horizontal);
+#endif
+ }
+
+ MainWindow::~MainWindow()
+ {
+ osgViewerManagers_.reset();
+ worker_.quit();
+ if (osgServer_ != NULL) {
+ osgServer_->wait();
+ delete osgServer_;
+ }
+ worker_.wait();
+ delete ui_;
+ }
+
+ MainWindow *MainWindow::instance()
+ {
+ return instance_;
+ }
+
+ void MainWindow::insertDockWidget(QDockWidget *dock, Qt::DockWidgetArea area, Qt::Orientation orientation)
+ {
+ addDockWidget(area, dock, orientation);
+ dock->setVisible (false);
+ dock->toggleViewAction ()->setIcon(QIcon::fromTheme("window-new"));
+ dock->adjustSize();
+ ui_->menuWindow->addAction(dock->toggleViewAction ());
+ }
+
+ void MainWindow::removeDockWidget(QDockWidget *dock)
+ {
+ ui_->menuWindow->removeAction(dock->toggleViewAction());
+ QMainWindow::removeDockWidget(dock);
+ }
+
+ BackgroundQueue& MainWindow::worker()
+ {
+ return backgroundQueue_;
+ }
+
+ WindowsManagerPtr_t MainWindow::osg() const
+ {
+ return osgViewerManagers_;
+ }
+
+ OSGWidget *MainWindow::centralWidget() const
+ {
+ return centralWidget_;
+ }
+
+ BodyTreeWidget *MainWindow::bodyTree() const
+ {
+ return ui_->bodyTreeContent;
+ }
+
+ QList<OSGWidget *> MainWindow::osgWindows() const
+ {
+ return osgWindows_;
+ }
+
+ PluginManager *MainWindow::pluginManager()
+ {
+ return &(settings_->pluginManager_);
+ }
+
+ void MainWindow::log(const QString &text)
+ {
+ ui_->logText->insertHtml("<hr/><font color=black>"+text+"</font>");
+ }
+
+ void MainWindow::logError(const QString &text)
+ {
+ if (!ui_->dockWidget_log->isVisible()) {
+ ui_->dockWidget_log->show();
+ }
+ QScrollBar* sb = ui_->logText->verticalScrollBar();
+ bool SBwasAtBottom = sb->value() == sb->maximum();
+ ui_->logText->insertHtml("<hr/><font color=red>"+text+"</font>");
+ if (SBwasAtBottom)
+ sb->setValue(sb->maximum());
+ }
+
+ void MainWindow::emitSendToBackground(WorkItem *item)
+ {
+ emit sendToBackground(item);
+ }
+
+ void MainWindow::logJobStarted(int id, const QString &text)
+ {
+ log (QString ("Starting job ") + QString::number (id) + ": " + text);
+ }
+
+ void MainWindow::logJobDone(int id, const QString &text)
+ {
+ log (QString ("Job ") + QString::number (id) + " done: " + text);
+ }
+
+ void MainWindow::logJobFailed(int id, const QString &text)
+ {
+ logError (QString ("Job ") + QString::number (id) + " failed: " + text);
+ }
+
+ OSGWidget *MainWindow::delayedCreateView(QString name)
+ {
+ delayedCreateView_.lock();
+ emit createView(name);
+ delayedCreateView_.lock();
+ delayedCreateView_.unlock();
+ return osgWindows_.last();
+ }
+
+ void MainWindow::requestRefresh()
+ {
+ emit refresh ();
+ }
+
+ OSGWidget *MainWindow::onCreateView() {
+ return onCreateView ("hpp_gui_window_" + QString::number(osgWindows_.size()));
+ }
+
+ OSGWidget *MainWindow::onCreateView(QString objName)
+ {
+ OSGWidget* osgWidget = new OSGWidget (osgViewerManagers_, objName.toStdString(),
+ this, 0);
+ if (!osgWindows_.empty()) {
+ QDockWidget* dockOSG = new QDockWidget (
+ tr("OSG Viewer") + " " + QString::number (osgWindows_.size()), this);
+ osgWidget->setObjectName(objName);
+ dockOSG->setWidget(osgWidget);
+ addDockWidget(Qt::RightDockWidgetArea, dockOSG);
+ } else {
+ // This OSGWidget should be the central view
+ centralWidget_ = osgWidget;
+ centralWidget_->setObjectName(objName);
+ setCentralWidget(centralWidget_);
+ #if PYTHONQT_NEED_INCLUDE==1
+ pythonWidget_->addToContext("osg", centralWidget_);
+ #endif
+ connect(ui_->actionHome, SIGNAL (triggered()), centralWidget_, SLOT (onHome()));
+ connect(ui_->actionSelection, SIGNAL (triggered()), centralWidget_, SLOT (selectionMode()));
+ connect(ui_->actionCamera_control_mode, SIGNAL (triggered()), centralWidget_, SLOT (cameraManipulationMode()));
+ ui_->osgToolBar->show();
+
+ osg()->addSceneToWindow("hpp-gui", centralWidget_->windowID());
+ connect(ui_->actionAdd_floor, SIGNAL (triggered()), centralWidget_, SLOT (addFloor()));
+ }
+ osgWindows_.append(osgWidget);
+ delayedCreateView_.unlock();
+ return osgWidget;
+ }
+
+ void MainWindow::openLoadRobotDialog()
+ {
+ statusBar()->showMessage("Loading a robot...");
+ DialogLoadRobot* d = new DialogLoadRobot (this);
+ if (d->exec () == QDialog::Accepted) {
+ createCentralWidget();
+ DialogLoadRobot::RobotDefinition rd = d->getSelectedRobotDescription();
+
+ QDir dir (rd.packagePath_); dir.cd("urdf");
+ QString urdfFile = dir.absoluteFilePath(rd.modelName_ + rd.urdfSuf_ + ".urdf");
+ try {
+ centralWidget_->loadURDF(rd.robotName_, urdfFile, rd.mesh_);
+ } catch (std::runtime_error& exc) {
+ logError (exc.what ());
+ }
+ robotNames_.append (rd.robotName_);
+
+ QString what = QString ("Loading robot ") + rd.name_;
+ WorkItem* item;
+ foreach (ModelInterface* loader, pluginManager()->get <ModelInterface> ()) {
+ item = new WorkItem_1 <ModelInterface, void,
+ DialogLoadRobot::RobotDefinition>
+ (loader, &ModelInterface::loadRobotModel, rd);
+ logJobStarted(item->id(), what);
+ emit sendToBackground(item);
+ }
+ }
+ d->close();
+ statusBar()->clearMessage();
+ d->deleteLater();
+ }
+
+ void MainWindow::openLoadEnvironmentDialog()
+ {
+ statusBar()->showMessage("Loading an environment...");
+ DialogLoadEnvironment* e = new DialogLoadEnvironment (this);
+ if (e->exec() == QDialog::Accepted) {
+ createCentralWidget();
+ DialogLoadEnvironment::EnvironmentDefinition ed = e->getSelectedDescription();
+
+ QDir d (ed.packagePath_); d.cd("urdf");
+ QString urdfFile = d.absoluteFilePath(ed.urdfFilename_ + ".urdf");
+ try {
+ osgViewerManagers_->addUrdfObjects(
+ Traits<QString>::to_corba(ed.envName_).in(),
+ Traits<QString>::to_corba(urdfFile ).in(),
+ Traits<QString>::to_corba(ed.mesh_ ).in(),
+ true);
+ osgViewerManagers_->addSceneToWindow(
+ Traits<QString>::to_corba(ed.envName_).in(),
+ centralWidget_->windowID());
+ } catch (std::runtime_error& exc) {
+ log (exc.what ());
+ }
+ bodyTree()->addBodyToTree(osgViewerManagers_->getScene(ed.envName_.toStdString()));
+
+ QString what = QString ("Loading environment ") + ed.name_;
+ WorkItem* item;
+ foreach (ModelInterface* loader, pluginManager()->get <ModelInterface> ()) {
+ item = new WorkItem_1 <ModelInterface, void,
+ DialogLoadEnvironment::EnvironmentDefinition>
+ (loader, &ModelInterface::loadEnvironmentModel, ed);
+ logJobStarted(item->id(), what);
+ emit sendToBackground(item);
+ }
+ }
+ statusBar()->clearMessage();
+ e->close();
+ e->deleteLater();
+ }
+
+ void MainWindow::handleWorkerDone(int /*id*/)
+ {
+ }
+
+ void MainWindow::resetConnection()
+ {
+ foreach (CorbaInterface* e, pluginManager()->get <CorbaInterface> ()) {
+ e->openConnection ();
+ }
+ }
+
+ void MainWindow::about()
+ {
+ QString devString;
+ devString = trUtf8("<p>Version %1. For more information visit <a href=\"%2\">%3</a></p>"
+ "<p><small>Copyright (c) 2015 CNRS<br/>By Joseph Mirabel and others.</small></p>"
+ "<p><small>"
+ "hpp-gui is free software: you can redistribute it and/or modify it under the "
+ "terms of the GNU Lesser General Public License as published by the Free "
+ "Software Foundation, either version 3 of the License, or (at your option) "
+ "any later version.<br/><br/>"
+ "hpp-gui is distributed in the hope that it will be "
+ "useful, but WITHOUT ANY WARRANTY; without even the implied warranty "
+ "of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU "
+ "General Lesser Public License for more details. You should have "
+ "received a copy of the GNU Lesser General Public License along with hpp-gui."
+ "If not, see <a href=\"http://www.gnu.org/licenses\">http://www.gnu.org/licenses<a/>."
+ "</small></p>"
+ )
+ .arg(QApplication::applicationVersion())
+ .arg(QApplication::organizationDomain())
+ .arg(QApplication::organizationDomain());
+
+ QMessageBox::about(this, QApplication::applicationName(), devString);
+ }
+
+ void MainWindow::setupInterface()
+ {
+ // Menu "Window"
+ QMenu* toolbar = ui_->menuWindow->addMenu("Tool bar");
+ toolbar->setIcon(QIcon::fromTheme("configure-toolbars"));
+ ui_->mainToolBar->setVisible(true);
+ ui_->osgToolBar->setVisible(false);
+ toolbar->addAction (ui_->mainToolBar->toggleViewAction ());
+ toolbar->addAction (ui_->osgToolBar->toggleViewAction ());
+
+ ui_->menuWindow->addSeparator();
+
+ ui_->dockWidget_bodyTree->setVisible (false);
+ ui_->dockWidget_bodyTree->toggleViewAction ()->setIcon(QIcon::fromTheme("window-new"));
+ ui_->dockWidget_bodyTree->toggleViewAction ()->setShortcut(Qt::CTRL + Qt::ALT + Qt::Key_B);
+ ui_->menuWindow->addAction(ui_->dockWidget_bodyTree->toggleViewAction ());
+ ui_->dockWidget_log->setVisible (false);
+ ui_->dockWidget_log->toggleViewAction ()->setIcon(QIcon::fromTheme("window-new"));
+ ui_->dockWidget_log->toggleViewAction ()->setShortcut(Qt::CTRL + Qt::ALT + Qt::Key_L);
+ ui_->menuWindow->addAction(ui_->dockWidget_log->toggleViewAction ());
+
+ ui_->menuWindow->addSeparator();
+
+ // Setup the status bar
+ collisionIndicator_ = new LedIndicator (statusBar());
+ collisionValidationActivated_ = new QCheckBox ();
+ collisionValidationActivated_->setToolTip (tr("Automatically validate configurations."));
+ collisionValidationActivated_->setCheckState (Qt::Checked);
+ statusBar()->addPermanentWidget(collisionValidationActivated_);
+ statusBar()->addPermanentWidget(collisionIndicator_);
+
+ connect (collisionIndicator_, SIGNAL (mouseClickEvent()), SLOT(requestConfigurationValidation()));
+ connect (ui_->actionAbout, SIGNAL (triggered ()), SLOT(about()));
+ connect (ui_->actionReconnect, SIGNAL (triggered ()), SLOT(resetConnection()));
+ connect (ui_->actionFetch_configuration, SIGNAL (triggered ()), SLOT(requestApplyCurrentConfiguration()));
+ }
+
+ void MainWindow::createCentralWidget()
+ {
+ if (!osgWindows_.empty()) return;
+ onCreateView();
+ }
+
+ void MainWindow::requestApplyCurrentConfiguration()
+ {
+ emit applyCurrentConfiguration();
+ if (collisionValidationActivated_->isChecked ())
+ requestConfigurationValidation();
+ }
+
+ void MainWindow::requestConfigurationValidation()
+ {
+ emit configurationValidation();
+ }
+
+ void MainWindow::onOpenPluginManager()
+ {
+ PluginManagerDialog d (pluginManager(), this);
+ d.exec ();
+ }
+
+ void MainWindow::configurationValidationStatusChanged (bool valid)
+ {
+ collisionIndicator_->switchLed (valid);
+ int state = (valid)?0:1;
+ foreach(const QString& s, robotNames_) {
+ osg ()->setHighlight(s.toLocal8Bit().data(), state);
+ }
+ }
+
+ void MainWindow::configurationValidationStatusChanged (QStringList bodiesInCollision)
+ {
+ QStringList lastBodiesInCollision = lastBodiesInCollision_;
+ lastBodiesInCollision_.clear();
+ collisionIndicator_->switchLed (bodiesInCollision.empty());
+ foreach (QString b, lastBodiesInCollision) {
+ if (bodiesInCollision.removeAll(b) == 0) {
+ /// This body is not in collision
+ osg ()->setHighlight(b.toLocal8Bit().data(), 0);
+ } else {
+ /// This body is still in collision
+ lastBodiesInCollision_.append(b);
+ }
+ }
+ QString tooltip ("Collision between ");
+ tooltip += bodiesInCollision.join (", ");
+ foreach(const QString& b, bodiesInCollision) {
+ osg ()->setHighlight(b.toLocal8Bit().data(), 1);
+ lastBodiesInCollision_.append(b);
+ }
+ collisionIndicator_->setToolTip (tooltip);
+ }
+
+ void MainWindow::requestSelectJointFromBodyName(const QString bodyName)
+ {
+ emit selectJointFromBodyName(bodyName);
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/omniorbthread.cc b/src/gui/omniorbthread.cc
new file mode 100644
index 0000000..a2a41ba
--- /dev/null
+++ b/src/gui/omniorbthread.cc
@@ -0,0 +1,130 @@
+#include "gepetto/gui/omniorb/omniorbthread.hh"
+
+#include <gepetto/viewer/corba/server.hh>
+#include <QDebug>
+
+#include <gepetto/gui/mainwindow.hh>
+#include <gepetto/gui/plugin-interface.hh>
+
+namespace gepetto {
+ namespace gui {
+ int WorkItem::idGlobal = 0;
+
+ ServerProcess::ServerProcess()
+ : initDone_ ()
+ {
+ initDone_.lock();
+ }
+
+ void ServerProcess::waitForInitDone()
+ {
+ initDone_.lock();
+ initDone_.unlock();
+ }
+
+ void ServerProcess::init()
+ {
+ initDone_.unlock();
+ }
+
+ ViewerServerProcess::ViewerServerProcess (graphics::corbaServer::Server *server)
+ : server_ (server)
+ {}
+
+ ViewerServerProcess::~ViewerServerProcess()
+ {
+ delete server_;
+ }
+
+ void ViewerServerProcess::init()
+ {
+ server_->startCorbaServer ();
+ emit done ();
+ ServerProcess::init();
+ }
+
+ void ViewerServerProcess::processRequest(bool loop)
+ {
+ server_->processRequest (loop);
+ emit done();
+ }
+
+ CorbaServer::CorbaServer (ServerProcess* process) :
+ QObject (), control_ (process), worker_ (), timerId_ (-1), interval_ (100)
+ {
+ connect (this, SIGNAL (process(bool)), control_, SLOT (processRequest (bool)));
+ connect (control_, SIGNAL (done()), this, SLOT (processed()));
+ connect (&worker_, SIGNAL (started()), control_, SLOT (init()));
+ control_->moveToThread(&worker_);
+ }
+
+ CorbaServer::~CorbaServer()
+ {
+ if (control_)
+ delete control_;
+ }
+
+ void CorbaServer::wait ()
+ {
+ worker_.quit ();
+ worker_.wait(200);
+ if (worker_.isRunning()) {
+ worker_.terminate();
+ worker_.wait();
+ }
+ }
+
+ void CorbaServer::waitForInitDone()
+ {
+ control_->waitForInitDone();
+ }
+
+ void CorbaServer::start()
+ {
+ worker_.start();
+ }
+
+ void CorbaServer::timerEvent(QTimerEvent* event)
+ {
+ Q_UNUSED (event);
+ assert (event->timerId () == timerId_);
+ emit process (false);
+ killTimer(timerId_);
+ }
+
+ void CorbaServer::processed()
+ {
+ timerId_ = startTimer(interval_);
+ }
+
+ BackgroundQueue::BackgroundQueue(QObject *parent) :
+ QObject (parent)
+ {
+ }
+
+ void BackgroundQueue::perform(WorkItem *item)
+ {
+ try {
+ item->performWork();
+ emit done (item->id ());
+ } catch (std::exception& e) {
+ emit failed (item->id(), QString (e.what()));
+ } catch (const CORBA::Exception& e) {
+ /// Enable plugins to get corba errors.
+ /// hpp plugins can thus handle CORBA Exceptions (gepetto::Error)
+ bool handled = false;
+ foreach (CorbaInterface* errorHandler, MainWindow::instance()->pluginManager()->get <CorbaInterface>()) {
+ if (errorHandler->corbaException (item->id(), e)) {
+ handled = true;
+ break;
+ }
+ }
+ if (!handled)
+ emit failed (item->id(), QString ("Unhandled CORBA Exception %1").arg(e._name()));
+ } catch (...) {
+ emit failed (item->id(), QString ("Unkown error type"));
+ }
+ delete item;
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/osgwidget.cc b/src/gui/osgwidget.cc
new file mode 100644
index 0000000..5737ea4
--- /dev/null
+++ b/src/gui/osgwidget.cc
@@ -0,0 +1,364 @@
+#include "gepetto/gui/osgwidget.hh"
+#include "gepetto/gui/mainwindow.hh"
+
+#include <boost/regex.hpp>
+
+#include <osg/Camera>
+
+#include <osg/DisplaySettings>
+#include <osg/Geode>
+#include <osg/Material>
+#include <osg/Shape>
+#include <osg/ShapeDrawable>
+#include <osg/StateSet>
+
+#include <osgGA/EventQueue>
+#include <osgGA/KeySwitchMatrixManipulator>
+#include <osgGA/TrackballManipulator>
+
+#include <osgUtil/IntersectionVisitor>
+#include <osgUtil/PolytopeIntersector>
+
+#include <osgViewer/View>
+#include <osgViewer/ViewerEventHandlers>
+
+#include <cassert>
+
+#include <stdexcept>
+#include <vector>
+
+#include <QDebug>
+#include <QKeyEvent>
+#include <QWheelEvent>
+
+#include <gepetto/viewer/urdf-parser.h>
+#include <gepetto/viewer/OSGManipulator/keyboard-manipulator.h>
+
+#include <gepetto/gui/windows-manager.hh>
+#include <gepetto/gui/bodytreewidget.hh>
+#include <gepetto/gui/pick-handler.hh>
+
+namespace gepetto {
+ namespace gui {
+ namespace
+ {
+
+ QRect makeRectangle( const QPoint& first, const QPoint& second )
+ {
+ // Relative to the first point, the second point may be in either one of the
+ // four quadrants of an Euclidean coordinate system.
+ //
+ // We enumerate them in counter-clockwise order, starting from the lower-right
+ // quadrant that corresponds to the default case:
+ //
+ // |
+ // (3) | (4)
+ // |
+ // -------|-------
+ // |
+ // (2) | (1)
+ // |
+
+ if( second.x() >= first.x() && second.y() >= first.y() )
+ return QRect( first, second );
+ else if( second.x() < first.x() && second.y() >= first.y() )
+ return QRect( QPoint( second.x(), first.y() ), QPoint( first.x(), second.y() ) );
+ else if( second.x() < first.x() && second.y() < first.y() )
+ return QRect( second, first );
+ else if( second.x() >= first.x() && second.y() < first.y() )
+ return QRect( QPoint( first.x(), second.y() ), QPoint( second.x(), first.y() ) );
+
+ // Should never reach that point...
+ return QRect();
+ }
+
+ }
+
+ OSGWidget::OSGWidget(WindowsManagerPtr_t wm,
+ std::string name,
+ MainWindow *parent, Qt::WindowFlags f ,
+ osgViewer::ViewerBase::ThreadingModel threadingModel)
+ : QWidget( parent, f )
+ , graphicsWindow_()
+ , wsm_ (wm)
+ , pickHandler_ (new PickHandler (wsm_))
+ , wid_ (-1)
+ , wm_ ()
+ , viewer_ (new osgViewer::Viewer)
+ , screenCapture_ ()
+ , mode_ (CAMERA_MANIPULATION)
+ , selectionFinished_( true )
+ , infoBox_ (this)
+ {
+ osg::DisplaySettings* ds = osg::DisplaySettings::instance().get();
+ osg::ref_ptr <osg::GraphicsContext::Traits> traits_ptr (new osg::GraphicsContext::Traits);
+ traits_ptr->windowName = "Gepetto Viewer";
+ traits_ptr->x = this->x();
+ traits_ptr->y = this->y();
+ traits_ptr->width = this->width();
+ traits_ptr->height = this->height();
+ traits_ptr->windowDecoration = false;
+ traits_ptr->doubleBuffer = true;
+ traits_ptr->vsync = true;
+ // traits_ptr->sharedContext = 0;
+ // traits_ptr->sampleBuffers = 1;
+ // traits_ptr->samples = 1;
+
+ traits_ptr->alpha = ds->getMinimumNumAlphaBits();
+ traits_ptr->stencil = ds->getMinimumNumStencilBits();
+ traits_ptr->sampleBuffers = ds->getMultiSamples();
+ traits_ptr->samples = ds->getNumMultiSamples();
+
+ graphicsWindow_ = new osgQt::GraphicsWindowQt ( traits_ptr );
+
+ osg::Camera* camera = viewer_->getCamera();
+ camera->setGraphicsContext( graphicsWindow_ );
+
+ camera->setClearColor( osg::Vec4(0.2f, 0.2f, 0.6f, 1.0f) );
+ camera->setViewport( new osg::Viewport(0, 0, traits_ptr->width, traits_ptr->height) );
+ camera->setProjectionMatrixAsPerspective(30.0f, static_cast<double>(traits_ptr->width)/static_cast<double>(traits_ptr->height), 1.0f, 10000.0f );
+
+ viewer_->setKeyEventSetsDone(0);
+
+
+ osg::ref_ptr<osgGA::KeySwitchMatrixManipulator> keyswitchManipulator = new osgGA::KeySwitchMatrixManipulator;
+ keyswitchManipulator->addMatrixManipulator( '1', "Trackball", new osgGA::TrackballManipulator() );
+ keyswitchManipulator->addMatrixManipulator( '2', "First person", new ::osgGA::KeyboardManipulator(graphicsWindow_));
+ keyswitchManipulator->selectMatrixManipulator (0);
+ viewer_->setCameraManipulator( keyswitchManipulator.get() );
+
+ screenCapture_ = new osgViewer::ScreenCaptureHandler (
+ new osgViewer::ScreenCaptureHandler::WriteToFile (
+ parent->settings_->captureDirectory + "/" + parent->settings_->captureFilename,
+ parent->settings_->captureExtension),
+ 1);
+ viewer_->addEventHandler(screenCapture_);
+ viewer_->addEventHandler(new osgViewer::HelpHandler);
+
+ connect(pickHandler_, SIGNAL(selected(QString)), SLOT(transferSelected(QString)));
+ viewer_->addEventHandler(pickHandler_);
+
+ wid_ = wm->createWindow (name.c_str(), viewer_, graphicsWindow_.get());
+ wm_ = wsm_->getWindowManager (wid_);
+
+ viewer_->setThreadingModel(threadingModel);
+
+ QGLWidget* glWidget = graphicsWindow_->getGLWidget();
+ QHBoxLayout* hblayout = new QHBoxLayout (this);
+ hblayout->setContentsMargins(1,1,1,1);
+ setLayout (hblayout);
+ hblayout->addWidget(glWidget);
+
+ render_.viewerPtr = viewer_;
+ render_.wsm_ = wsm_;
+ render_.refreshRate = parent->settings_->refreshRate;
+ render_.start ();
+
+ parent->bodyTree()->connect(this,
+ SIGNAL (selected(QString)), SLOT (selectBodyByName(QString)));
+ parent->connect(this, SIGNAL (selected(QString)),
+ SLOT (requestSelectJointFromBodyName(QString)));
+ }
+
+ OSGWidget::~OSGWidget()
+ {
+ viewer_->setDone(true);
+ viewer_->removeEventHandler(pickHandler_);
+ pickHandler_ = NULL;
+ wm_.reset();
+ wsm_.reset();
+ }
+
+ graphics::WindowsManager::WindowID OSGWidget::windowID() const
+ {
+ return wid_;
+ }
+
+ void OSGWidget::loadURDF(const QString robotName,
+ const QString urdf_file_path,
+ const QString meshDataRootDir)
+ {
+ QByteArray rn = robotName.toLocal8Bit();
+ QByteArray uf = urdf_file_path.toLocal8Bit();
+ QByteArray md = meshDataRootDir.toLocal8Bit();
+ wsm_->addURDF(rn.constData(),
+ uf.constData(),
+ md.constData());
+ wsm_->addSceneToWindow(rn.constData(), wid_);
+ MainWindow* w = dynamic_cast <MainWindow*> (parentWidget());
+ if (w) {
+ w->bodyTree()->addBodyToTree (wsm_->getScene (robotName.toStdString()));
+ }
+ }
+
+ void OSGWidget::paintEvent( QPaintEvent* /* paintEvent */ )
+ {
+// wsm_->lock().lock();
+// viewer_->frame();
+ // wsm_->lock().unlock();
+ }
+
+ void gepetto::gui::OSGWidget::transferSelected(QString name)
+ {
+ emit selected (name);
+ }
+
+ void OSGWidget::onHome()
+ {
+ viewer_->home ();
+ }
+
+ void OSGWidget::changeMode(Mode mode)
+ {
+ mode_ = mode;
+ infoBox_.setMode (mode);
+ }
+
+ void OSGWidget::selectionMode()
+ {
+ mode_ = NODE_SELECTION;
+ infoBox_.setMode(NODE_SELECTION);
+ }
+
+ void OSGWidget::cameraManipulationMode()
+ {
+ mode_ = CAMERA_MANIPULATION;
+ infoBox_.setMode(CAMERA_MANIPULATION);
+ }
+
+ void OSGWidget::addFloor()
+ {
+ wsm_->addFloor("hpp-gui/floor");
+ }
+
+ void OSGWidget::attachToWindow(const std::string nodeName)
+ {
+ wsm_->addSceneToWindow(nodeName.c_str(), wid_);
+ }
+
+ osgGA::EventQueue* OSGWidget::getEventQueue() const
+ {
+ osgGA::EventQueue* eventQueue = viewer_->getEventQueue();
+
+ if( eventQueue )
+ return( eventQueue );
+ else
+ throw( std::runtime_error( "Unable to obtain valid event queue") );
+ }
+
+ std::list <graphics::NodePtr_t> OSGWidget::processSelection()
+ {
+ NodeList nodes;
+ QRect selectionRectangle = makeRectangle( selectionStart_, selectionEnd_ );
+ int widgetHeight = this->height();
+
+ double xMin = selectionRectangle.left();
+ double xMax = selectionRectangle.right();
+ double yMin = widgetHeight - selectionRectangle.bottom();
+ double yMax = widgetHeight - selectionRectangle.top();
+
+ osg::ref_ptr<osgUtil::PolytopeIntersector> polytopeIntersector
+ = new osgUtil::PolytopeIntersector( osgUtil::PolytopeIntersector::WINDOW,
+ xMin, yMin,
+ xMax, yMax );
+
+ // This limits the amount of intersections that are reported by the
+ // polytope intersector. Using this setting, a single drawable will
+ // appear at most once while calculating intersections. This is the
+ // preferred and expected behaviour.
+ polytopeIntersector->setIntersectionLimit( osgUtil::Intersector::LIMIT_ONE_PER_DRAWABLE );
+
+ osgUtil::IntersectionVisitor iv( polytopeIntersector );
+
+ osg::ref_ptr<osg::Camera> camera = viewer_->getCamera();
+
+ if( !camera )
+ throw std::runtime_error( "Unable to obtain valid camera for selection processing" );
+
+ camera->accept( iv );
+
+ if( !polytopeIntersector->containsIntersections() )
+ return nodes;
+
+ osgUtil::PolytopeIntersector::Intersections intersections = polytopeIntersector->getIntersections();
+
+ for(osgUtil::PolytopeIntersector::Intersections::iterator it = intersections.begin();
+ it != intersections.end(); ++it) {
+ for (int i = (int) it->nodePath.size()-1; i >= 0 ; --i) {
+ graphics::NodePtr_t n = wsm_->getNode(it->nodePath[i]->getName ());
+ if (n) {
+ if (boost::regex_match (n->getID().c_str(), boost::regex ("^.*_[0-9]+$")))
+ continue;
+ nodes.push_back(n);
+ break;
+ }
+ }
+ }
+ return nodes;
+ }
+
+ OSGWidget::InfoBox::InfoBox(QWidget *parent) :
+ size_ (16,16),
+ selection_ (QIcon::fromTheme("edit-select").pixmap(size_)),
+ record_ (QIcon::fromTheme("media-record").pixmap(size_)),
+ label_ (new QLabel (parent))
+ {
+ label_->setAutoFillBackground(true);
+ label_->hide();
+ label_->setGeometry(QRect (QPoint(0,0), size_));
+ }
+
+ void OSGWidget::InfoBox::normalMode()
+ {
+ label_->hide();
+ }
+
+ void OSGWidget::InfoBox::selectionMode()
+ {
+ label_->show();
+ label_->setPixmap(selection_);
+ }
+
+ void OSGWidget::InfoBox::recordMode()
+ {
+ label_->show();
+ label_->setPixmap(record_);
+ }
+
+ void OSGWidget::InfoBox::setMode(OSGWidget::Mode mode)
+ {
+ switch (mode) {
+ case CAMERA_MANIPULATION:
+ normalMode();
+ break;
+ case NODE_SELECTION:
+ selectionMode();
+ break;
+ case NODE_MOTION:
+ selectionMode();
+ break;
+ default:
+ normalMode();
+ break;
+ }
+ }
+
+ void RenderThread::run()
+ {
+ if (viewerPtr) {
+ while (!viewerPtr->done ()) {
+ wsm_->lock ().lock();
+ viewerPtr->frame();
+ wsm_->lock ().unlock();
+ QThread::msleep(30);
+ }
+ }
+ }
+
+ RenderThread::~RenderThread() {
+ if (viewerPtr) viewerPtr->setDone(true);
+ wait();
+ }
+
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/pick-handler.cc b/src/gui/pick-handler.cc
new file mode 100644
index 0000000..13e25f2
--- /dev/null
+++ b/src/gui/pick-handler.cc
@@ -0,0 +1,180 @@
+#include "gepetto/gui/pick-handler.hh"
+
+#include <QDebug>
+
+#include <osg/io_utils>
+
+#include <osgUtil/IntersectionVisitor>
+#include <osgUtil/LineSegmentIntersector>
+
+#include <osgViewer/Viewer>
+
+#include <iostream>
+#include <boost/regex.hpp>
+
+#include <gepetto/gui/windows-manager.hh>
+#include <gepetto/gui/osgwidget.hh>
+#include <gepetto/gui/mainwindow.hh>
+#include <gepetto/gui/bodytreewidget.hh>
+#include <gepetto/gui/tree-item.hh>
+
+namespace gepetto {
+ namespace gui {
+ PickHandler::PickHandler(WindowsManagerPtr_t wsm)
+ : wsm_ (wsm)
+ , last_ ()
+ , pushed_ (false)
+ , lastX_ (0)
+ , lastY_ (0)
+ {
+ MainWindow* main = MainWindow::instance ();
+ connect (main->bodyTree ()->view ()->selectionModel(),
+ SIGNAL (currentChanged(QModelIndex,QModelIndex)),
+ SLOT (bodyTreeCurrentChanged(QModelIndex,QModelIndex)));
+ }
+
+ PickHandler::~PickHandler()
+ {
+ }
+
+ bool PickHandler::handle( const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& aa )
+ {
+ switch (ea.getEventType()) {
+ case osgGA::GUIEventAdapter::PUSH:
+ case osgGA::GUIEventAdapter::RELEASE:
+ if (ea.getButton() == osgGA::GUIEventAdapter::LEFT_MOUSE_BUTTON) {
+ if (pushed_
+ && ea.getEventType() == osgGA::GUIEventAdapter::RELEASE) {
+ pushed_ = false;
+ if ((int)floor(lastX_ - ea.getX()+0.05) == 0
+ && (int)floor(lastY_ - ea.getY() + 0.5) == 0) {
+ computeIntersection(aa, ea.getX(), ea.getY());
+ return true;
+ }
+ }
+ if (ea.getEventType() == osgGA::GUIEventAdapter::PUSH) {
+ lastX_ = ea.getX();
+ lastY_ = ea.getY();
+ pushed_ = true;
+ }
+ }
+ return false;
+ break;
+ case osgGA::GUIEventAdapter::KEYUP:
+ switch (ea.getKey ()) {
+ case 'z':
+ setCameraToSelected (aa, false);
+ return true;
+ case 'Z':
+ setCameraToSelected (aa, true);
+ return true;
+ default:
+ break;
+ }
+ break;
+ default:
+ break;
+ }
+ return false;
+ }
+
+ void PickHandler::select (graphics::NodePtr_t node)
+ {
+ if (last_ == node) return;
+ if (last_) last_->setHighlightState (0);
+ last_ = node;
+ if (last_) last_->setHighlightState (8);
+ }
+
+ void PickHandler::getUsage (osg::ApplicationUsage& usage)
+ {
+ usage.addKeyboardMouseBinding ("Right click", "Select node");
+ usage.addKeyboardMouseBinding ('z', "Move camera on selected node");
+ usage.addKeyboardMouseBinding ('Z', "Move and zoom on selected node");
+ }
+
+ std::list<graphics::NodePtr_t> PickHandler::computeIntersection(osgGA::GUIActionAdapter &aa,
+ const float &x, const float &y)
+ {
+ std::list<graphics::NodePtr_t> nodes;
+ osgViewer::View* viewer = dynamic_cast<osgViewer::View*>( &aa );
+ if( viewer )
+ {
+ // There is no need to lock the windows manager mutex
+ // as this is treated in the event loop of OSG, and not Qt.
+ // On the contrary, locking here creates a deadlock as the lock is
+ // already acquired by OSGWidget::paintEvent.
+ // wsm_->lock().lock();
+ osg::ref_ptr<osgUtil::LineSegmentIntersector> intersector =
+ new osgUtil::LineSegmentIntersector(osgUtil::Intersector::WINDOW, x, y);
+ intersector->setIntersectionLimit( osgUtil::Intersector::LIMIT_ONE_PER_DRAWABLE );
+
+ osgUtil::IntersectionVisitor iv( intersector );
+
+ osg::Camera* camera = viewer->getCamera();
+
+ camera->accept( iv );
+
+ if( !intersector->containsIntersections() ) {
+ select (graphics::NodePtr_t());
+ return nodes;
+ }
+
+ osgUtil::LineSegmentIntersector::Intersections intersections = intersector->getIntersections();
+
+ for(osgUtil::LineSegmentIntersector::Intersections::iterator it = intersections.begin();
+ it != intersections.end(); ++it) {
+ for (int i = (int) it->nodePath.size()-1; i >= 0 ; --i) {
+ graphics::NodePtr_t n = wsm_->getNode(it->nodePath[i]->getName ());
+ if (n) {
+ if (boost::regex_match (n->getID(), boost::regex ("^.*_[0-9]+$")))
+ continue;
+ select (n);
+ emit selected (QString::fromStdString(n->getID ()));
+ return nodes;
+ // nodes.push_back(n);
+ // break;
+ }
+ }
+ }
+ // emit parent_->selected (nodes.front()->getID ());
+ }
+ select (graphics::NodePtr_t());
+ return nodes;
+ }
+
+ void PickHandler::setCameraToSelected (osgGA::GUIActionAdapter &aa,
+ bool zoom)
+ {
+ if (!last_) return;
+ osgViewer::View* viewer = dynamic_cast<osgViewer::View*>( &aa );
+ if(!viewer) return;
+
+ const osg::BoundingSphere& bs = last_->asGroup()->getBound ();
+ osg::Vec3f eye, center, up;
+ viewer->getCameraManipulator()->getInverseMatrix ()
+ .getLookAt (eye, center, up);
+ if (zoom) {
+ eye.normalize();
+ eye *= 1 + bs.radius ();
+ }
+ viewer->getCameraManipulator()->setByInverseMatrix (
+ osg::Matrixd::lookAt (eye, bs.center(), up)
+ );
+ }
+
+ void PickHandler::bodyTreeCurrentChanged (const QModelIndex ¤t,
+ const QModelIndex &/*previous*/)
+ {
+ BodyTreeItem *item = dynamic_cast <BodyTreeItem*> (
+ qobject_cast <const QStandardItemModel*>
+ (current.model())->itemFromIndex(current)
+ );
+ if (item) {
+ wsm_->lock ().lock();
+ select (item->node ());
+ wsm_->lock ().unlock();
+ }
+ }
+ }
+}
diff --git a/src/gui/pythonwidget.cc b/src/gui/pythonwidget.cc
new file mode 100644
index 0000000..5ab31df
--- /dev/null
+++ b/src/gui/pythonwidget.cc
@@ -0,0 +1,59 @@
+#include "gepetto/gui/pythonwidget.hh"
+
+#include <QFileDialog>
+
+#include "gepetto/gui/osgwidget.hh"
+#include "gepetto/gui/mainwindow.hh"
+
+namespace gepetto {
+ namespace gui {
+ PythonWidget::PythonWidget(QWidget *parent) :
+ QDockWidget("PythonQt console", parent)
+ {
+ PythonQt::init(PythonQt::IgnoreSiteModule | PythonQt::RedirectStdOut);
+ PythonQt_QtAll::init();
+ mainContext_ = PythonQt::self()->getMainModule();
+ PythonQtObjectPtr sys = PythonQt::self()->importModule ("sys");
+ sys.addVariable ("argv", QVariant(QStringList () << "toto.py"));
+ console_ = new PythonQtScriptingConsole(NULL, mainContext_);
+ mainContext_.addObject("mainWindow", MainWindow::instance());
+
+ QWidget* widget = new QWidget;
+ QVBoxLayout* layout = new QVBoxLayout;
+ button_ = new QPushButton;
+
+ button_->setText("Choose file");
+ layout->addWidget(console_);
+ layout->addWidget(button_);
+ widget->setLayout(layout);
+ this->setWidget(widget);
+
+ connect(button_, SIGNAL(clicked()), SLOT(browseFile()));
+ }
+
+ PythonWidget::~PythonWidget()
+ {
+ std::cout << "begin cleanup" << std::endl;
+ PythonQt::cleanup();
+ std::cout << "end cleanup" << std::endl;
+ }
+
+ void PythonWidget::browseFile() {
+ QFileDialog* fd = new QFileDialog;
+
+ fd->setFileMode(QFileDialog::ExistingFile);
+ fd->setNameFilter("All python file (*.py)");
+ if (fd->exec() == QDialog::Accepted) {
+ QStringList file = fd->selectedFiles();
+
+ mainContext_.evalFile(file.at(0));
+ }
+ fd->close();
+ fd->deleteLater();
+ }
+
+ void PythonWidget::addToContext(QString const& name, QObject* obj) {
+ mainContext_.addObject(name, obj);
+ }
+ }
+}
diff --git a/src/gui/safeapplication.cc b/src/gui/safeapplication.cc
new file mode 100644
index 0000000..1f37547
--- /dev/null
+++ b/src/gui/safeapplication.cc
@@ -0,0 +1,42 @@
+#include "gepetto/gui/safeapplication.hh"
+
+#include <QDebug>
+#include <omniORB4/CORBA.h>
+#include <gepetto/gui/mainwindow.hh>
+#include <gepetto/gui/plugin-interface.hh>
+
+namespace gepetto {
+ namespace gui {
+ SafeApplication::SafeApplication(int& argc, char** argv) :
+ QApplication(argc, argv)
+ {
+ }
+
+ bool SafeApplication::notify(QObject *receiver, QEvent *e)
+ {
+ try {
+ return QApplication::notify(receiver, e);
+ } catch (const std::exception& e) {
+ qDebug () << e.what();
+ } catch (const CORBA::TRANSIENT& e) {
+ emit log (QString ("CORBA Exception %1 - %2.\nYou may need to reset the connections (see Tools menu)").arg(e._name()).arg(e._rep_id()));
+ } catch (const CORBA::COMM_FAILURE& e) {
+ emit log (QString ("CORBA Exception %1 - %2.\nYou may need to reset the connections (see Tools menu)").arg(e._name()).arg(e._rep_id()));
+ } catch (const CORBA::Exception& e) {
+ bool handled = false;
+ foreach (CorbaInterface* errorHandler, MainWindow::instance()->pluginManager()->get <CorbaInterface>()) {
+ if (errorHandler->corbaException (0, e)) {
+ handled = true;
+ break;
+ }
+ }
+ if (!handled)
+ emit log (QString ("Unhandled CORBA Exception %1 - %2").arg(e._name()).arg(e._rep_id()));
+ } catch (...) {
+ qDebug() << "Unknown exception";
+ qDebug() << "Catch it in SafeApplication::notify";
+ }
+ return false;
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/settings.cc b/src/gui/settings.cc
new file mode 100644
index 0000000..5a63557
--- /dev/null
+++ b/src/gui/settings.cc
@@ -0,0 +1,407 @@
+// Copyright (c) 2015, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-gui.
+// hpp-gui is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-gui is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-gui. If not, see <http://www.gnu.org/licenses/>.
+
+#include <gepetto/gui/settings.hh>
+
+#include <boost/program_options.hpp>
+#include <boost/algorithm/string/split.hpp>
+#include <boost/algorithm/string/classification.hpp>
+
+#include <QSettings>
+#include <QDir>
+#include <QtDebug>
+
+#include <gepetto/gui/dialog/dialogloadrobot.hh>
+#include <gepetto/gui/dialog/dialogloadenvironment.hh>
+#include <gepetto/gui/mainwindow.hh>
+
+namespace po = boost::program_options;
+
+namespace gepetto {
+ namespace gui {
+ Settings::Settings ()
+ : configurationFile ("settings")
+ , predifinedRobotConf ("robots")
+ , predifinedEnvConf ("environments")
+ , verbose (false)
+ , noPlugin (false)
+ , startGepettoCorbaServer (true)
+ , refreshRate (30)
+ , captureDirectory ("/tmp/hpp-gui")
+ , captureFilename ("screenshot")
+ , captureExtension ("png")
+
+ , mw (0)
+ {}
+
+ int Settings::fromArgv(const int argc, char * const argv[])
+ {
+ typedef std::vector <std::string> Strings_t;
+
+ bool help = false;
+ bool genAndQuit = false;
+ int retVal = 0;
+
+ // Declare the supported options.
+ po::options_description desc("Options");
+ desc.add_options()
+ ("help,h", "produce help message")
+ ("verbose,v", "activate verbose output")
+ ("generate-config-files,g", "generate configuration files and quit")
+
+ ("config-file,c",
+ po::value<std::string>(&configurationFile),
+ "set the configuration file (do not include .conf)")
+
+ ("predefined-robots",
+ po::value<std::string>(&predifinedRobotConf),
+ "set the predefined robots configuration file (do not include .conf)")
+
+ ("predefined-environments",
+ po::value<std::string>(&predifinedEnvConf),
+ "set the predefined environments configuration file (do not include .conf)")
+
+ ("add-robot", po::value <Strings_t>(),
+ "Add a robot (a list of comma sperated string)")
+
+ ("add-env", po::value <Strings_t>(),
+ "Add an environment (a list of comma sperated string)")
+
+ ("load-plugin,p", po::value <Strings_t>(),
+ "load the plugin")
+
+ ("no-plugin,P", "do not load any plugin")
+
+ ("auto-write-settings,w", "write the settings in the configuration file")
+
+ ("no-viewer-server", "do not start the Gepetto Viewer server")
+ ;
+
+ po::variables_map vm;
+ po::parsed_options parsed = po::command_line_parser(argc, argv)
+ .options(desc)
+ .allow_unregistered()
+ .run();
+ po::store(parsed, vm);
+ po::notify (vm);
+
+ Strings_t unrecognized =
+ po::collect_unrecognized (parsed.options, po::exclude_positional);
+
+ help = (vm.count ("help") > 0);
+ if (vm.count ("verbose") > 0) verbose = true;
+ if (vm.count ("no-plugin") > 0) noPlugin = true;
+ if (vm.count ("auto-write-settings") > 0) autoWriteSettings = true;
+ if (vm.count ("generate-config-files") > 0) genAndQuit = true;
+ if (vm.count ("no-viewer-server") > 0) startGepettoCorbaServer = false;
+ if (vm.count ("add-robot") > 0) {
+ const Strings_t& rbts = vm["add-robot"].as <Strings_t> ();
+ for (Strings_t::const_iterator it = rbts.begin();
+ it != rbts.end(); ++it)
+ addRobotFromString (*it);
+ }
+ if (vm.count ("add-env") > 0) {
+ const Strings_t& envs = vm["add-env"].as <Strings_t> ();
+ for (Strings_t::const_iterator it = envs.begin();
+ it != envs.end(); ++it)
+ addEnvFromString (*it);
+ }
+ if (vm.count ("load-plugin") > 0) {
+ const Strings_t& envs = vm["load-plugin"].as <Strings_t> ();
+ for (Strings_t::const_iterator it = envs.begin();
+ it != envs.end(); ++it)
+ addPlugin (QString::fromStdString(*it), !noPlugin);
+ }
+
+ if (help || genAndQuit) retVal = 1;
+ if (unrecognized.size () > 0) {
+ std::cout << "Unrecognized options:\n";
+ for (std::size_t i = 0; i < unrecognized.size (); ++i)
+ std::cout << unrecognized[i] << "\n";
+ std::cout << "\n";
+ help = true;
+ verbose = true;
+ retVal = 2;
+ }
+
+ if (help) std::cout << desc << std::endl;
+ if (verbose) print (std::cout) << std::endl;
+ if (genAndQuit) writeSettings ();
+
+ return retVal;
+ }
+
+ void Settings::fromFiles ()
+ {
+ readRobotFile();
+ readEnvFile();
+ readSettingFile();
+ }
+
+ void Settings::writeSettings()
+ {
+ writeRobotFile ();
+ writeEnvFile ();
+ writeSettingFile ();
+ }
+
+ void Settings::initPlugins()
+ {
+ foreach (QString name, pluginsToInit_)
+ pluginManager_.initPlugin (name);
+ }
+
+ void Settings::setMainWindow(gepetto::gui::MainWindow *main)
+ {
+ mw = main;
+ }
+
+ std::ostream& Settings::print (std::ostream& os) {
+ const char tab = '\t';
+ const char nl = '\n';
+ return os
+ << nl << "Configuration:"
+ << nl << tab << "Configuration file: " << tab << configurationFile
+ << nl << tab << "Predefined robots: " << tab << predifinedRobotConf
+ << nl << tab << "Predefined environments:" << tab << predifinedEnvConf
+
+ << nl << nl << "Options:"
+ << nl << tab << "Verbose: " << tab << verbose
+ << nl << tab << "No plugin: " << tab << noPlugin
+ << nl << tab << "Start Viewer server: " << tab << startGepettoCorbaServer
+ << nl << tab << "Refresh rate: " << tab << refreshRate
+
+ << nl << nl << "Screen capture options:"
+ << nl << tab << "Directory: " << tab << captureDirectory
+ << nl << tab << "Filename: " << tab << captureFilename
+ << nl << tab << "Extension: " << tab << captureExtension
+ ;
+ }
+
+ void Settings::readRobotFile ()
+ {
+ QSettings robot (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(predifinedRobotConf));
+ if (robot.status() != QSettings::NoError) {
+ logError(QString ("Enable to open configuration file ")
+ + robot.fileName());
+ } else {
+ foreach (QString name, robot.childGroups()) {
+ robot.beginGroup(name);
+ QString robotName = robot.value("RobotName", name).toString();
+ QDir packagePath (robot.value("PackagePath", "").toString());
+ QString meshDirectory;
+ if (packagePath.exists()) {
+ QDir meshDir = packagePath; meshDir.cdUp();
+ meshDirectory = robot.value("MeshDirectory", meshDir.absolutePath()).toString();
+ } else {
+ meshDirectory = robot.value("MeshDirectory", "").toString();
+ }
+ DialogLoadRobot::addRobotDefinition(
+ name,
+ robotName,
+ robot.value("RootJointType", "freeflyer").toString(),
+ robot.value("ModelName", robotName).toString(),
+ robot.value("Package", packagePath.dirName()).toString(),
+ packagePath.path(),
+ robot.value("URDFSuffix", "").toString(),
+ robot.value("SRDFSuffix", "").toString(),
+ meshDirectory
+ );
+ robot.endGroup();
+ }
+ log(QString ("Read configuration file ")
+ + robot.fileName());
+ }
+ }
+
+ void Settings::readEnvFile ()
+ {
+ QSettings env (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(predifinedEnvConf));
+ if (env.status() != QSettings::NoError) {
+ logError(QString ("Enable to open configuration file ") + env.fileName());
+ } else {
+ foreach (QString name, env.childGroups()) {
+ env.beginGroup(name);
+ QString envName = env.value("EnvironmentName", name).toString();
+ QDir packagePath (env.value("PackagePath", "").toString());
+ QString meshDirectory;
+ if (packagePath.exists()) {
+ QDir meshDir = packagePath; meshDir.cdUp();
+ meshDirectory = env.value("MeshDirectory", meshDir.absolutePath()).toString();
+ } else {
+ meshDirectory = env.value("MeshDirectory", "").toString();
+ }
+ DialogLoadEnvironment::addEnvironmentDefinition(
+ name,
+ envName,
+ env.value("Package", packagePath.dirName()).toString(),
+ packagePath.path(),
+ env.value("URDFFilename").toString(),
+ env.value("URDFSuffix").toString(),
+ env.value("SRDFSuffix").toString(),
+ meshDirectory
+ );
+ env.endGroup();
+ }
+ log (QString ("Read configuration file ") + env.fileName());
+ }
+ }
+
+ void Settings::readSettingFile ()
+ {
+ QSettings env (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(configurationFile));
+ if (env.status() != QSettings::NoError) {
+ logError(QString ("Enable to open configuration file ") + env.fileName());
+ } else {
+ env.beginGroup("plugins");
+ foreach (QString name, env.childKeys()) {
+ addPlugin (name, (noPlugin)?false:env.value(name, true).toBool());
+ }
+ env.endGroup ();
+ log (QString ("Read configuration file ") + env.fileName());
+ }
+ }
+
+ void Settings::writeRobotFile ()
+ {
+ QSettings robot (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(predifinedRobotConf));
+ if (!robot.isWritable()) {
+ log (QString("Configuration file ") + robot.fileName() + QString(" is not writable."));
+ return;
+ }
+ foreach (DialogLoadRobot::RobotDefinition rd, DialogLoadRobot::getRobotDefinitions()) {
+ if (rd.name_.isEmpty()) continue;
+ robot.beginGroup(rd.name_);
+ robot.setValue("RobotName", rd.robotName_);
+ robot.setValue("ModelName", rd.modelName_);
+ robot.setValue("RootJointType", rd.rootJointType_);
+ robot.setValue("Package", rd.package_);
+ robot.setValue("PackagePath", rd.packagePath_);
+ robot.setValue("URDFSuffix", rd.urdfSuf_);
+ robot.setValue("SRDFSuffix", rd.srdfSuf_);
+ robot.setValue("MeshDirectory", rd.mesh_);
+ robot.endGroup();
+ }
+ log (QString("Wrote configuration file ") + robot.fileName());
+ }
+
+ void Settings::writeEnvFile ()
+ {
+ QSettings env (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(predifinedEnvConf));
+ if (!env.isWritable()) {
+ logError (QString ("Configuration file") + env.fileName() + QString("is not writable."));
+ return;
+ }
+ foreach (DialogLoadEnvironment::EnvironmentDefinition ed, DialogLoadEnvironment::getEnvironmentDefinitions()) {
+ if (ed.name_.isEmpty()) continue;
+ env.beginGroup(ed.name_);
+ env.setValue("RobotName", ed.envName_);
+ env.setValue("Package", ed.package_);
+ env.setValue("PackagePath", ed.packagePath_);
+ env.setValue("URDFFilename", ed.urdfFilename_);
+ env.setValue("MeshDirectory", ed.mesh_);
+ env.endGroup();
+ }
+ log (QString ("Wrote configuration file ") + env.fileName());
+ }
+
+ void Settings::writeSettingFile ()
+ {
+ QSettings env (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(configurationFile));
+ if (!env.isWritable()) {
+ logError (QString ("Configuration file") + env.fileName() + QString("is not writable."));
+ return;
+ }
+ env.beginGroup("plugins");
+ for (PluginManager::Map::const_iterator p = pluginManager_.plugins ().constBegin();
+ p != pluginManager_.plugins().constEnd(); p++) {
+ env.setValue(p.key(), (noPlugin)?false:p.value()->isLoaded());
+ }
+ env.endGroup ();
+ log (QString ("Read configuration file ") + env.fileName());
+ }
+
+ QVariant Settings::getSetting (const QString & key,
+ const QVariant & defaultValue)
+ {
+ QSettings env (QSettings::SystemScope,
+ QCoreApplication::organizationName(),
+ QString::fromStdString(configurationFile));
+ if (env.status() == QSettings::NoError) {
+ return env.value (key, defaultValue);
+ }
+ return defaultValue;
+ }
+
+ void Settings::addRobotFromString (const std::string& rbtStr)
+ {
+ QString rbt = QString::fromStdString(rbtStr);
+ QStringList split = rbt.split(",", QString::KeepEmptyParts);
+ if (split.size() != 9) {
+ logError ("Robot string is not of length 9");
+ logError (rbt);
+ return;
+ }
+ DialogLoadRobot::addRobotDefinition(split[0], split[1],
+ split[2].toLower(), split[3], split[4],
+ split[5], split[6], split[7], split[8]);
+ }
+
+ void Settings::addEnvFromString (const std::string& envStr)
+ {
+ QString env = QString::fromStdString(envStr);
+ QStringList split = env.split(",", QString::KeepEmptyParts);
+ if (split.size() != 6) {
+ logError ("Environment string is not of length 6");
+ logError (env);
+ return;
+ }
+ DialogLoadEnvironment::addEnvironmentDefinition(split[0],
+ split[1], split[2], split[3], split[4], split[5], split[6], split[7]);
+ }
+
+ void Settings::addPlugin (const QString& plg, bool init)
+ {
+ if (init) pluginsToInit_.append (plg);
+ pluginManager_.add(plg, 0, false);
+ }
+
+ void Settings::log(const QString &t)
+ {
+ if (!verbose) return;
+ if (mw) mw->log(t);
+ else std::cout << t.toLocal8Bit().constData() << std::endl;
+ }
+
+ void Settings::logError(const QString &t)
+ {
+ if (mw) mw->logError(t);
+ else qWarning() << t;
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/tree-item.cc b/src/gui/tree-item.cc
new file mode 100644
index 0000000..627becc
--- /dev/null
+++ b/src/gui/tree-item.cc
@@ -0,0 +1,143 @@
+#include "gepetto/gui/tree-item.hh"
+
+#include <QDebug>
+
+#include <gepetto/viewer/group-node.h>
+
+#include "gepetto/gui/mainwindow.hh"
+#include "gepetto/gui/windows-manager.hh"
+#include <gepetto/gui/bodytreewidget.hh>
+
+namespace gepetto {
+ namespace gui {
+ BodyTreeItem::BodyTreeItem(QObject *parent, graphics::NodePtr_t node) :
+ QObject (parent),
+ QStandardItem (QString (node->getID().c_str())),
+ node_ (node),
+ vmMapper_ (),
+ vizMapper_ ()
+ {
+ init();
+ setEditable(false);
+ connect (&vmMapper_, SIGNAL (mapped (QString)), SLOT(setViewingMode(QString)));
+ connect (&vizMapper_, SIGNAL (mapped (QString)), SLOT(setVisibilityMode(QString)));
+ }
+
+ QStandardItem* BodyTreeItem::clone() const
+ {
+ return new BodyTreeItem (QObject::parent(), node_);
+ }
+
+ graphics::NodePtr_t BodyTreeItem::node() const
+ {
+ return node_;
+ }
+
+ void BodyTreeItem::populateContextMenu(QMenu *contextMenu)
+ {
+ /// Landmark
+ QMenu* lm = contextMenu->addMenu (tr("Landmark"));
+ QAction* alm = lm->addAction (tr("Add"));
+ QAction* dlm = lm->addAction (tr("Remove"));
+ connect (alm, SIGNAL (triggered()), SLOT (addLandmark()));
+ connect (dlm, SIGNAL (triggered()), SLOT (deleteLandmark()));
+ /// Remove
+ QAction* remove = contextMenu->addAction (tr("Remove"));
+ connect (remove, SIGNAL (triggered()), SLOT (remove()));
+ QAction* removeAll = contextMenu->addAction (tr("Remove all"));
+ connect (removeAll, SIGNAL (triggered()), SLOT (removeAll()));
+ if (!parentGroup_.empty()) {
+ QAction* rfg = contextMenu->addAction (tr("Remove from group"));
+ connect (rfg, SIGNAL (triggered()), SLOT (removeFromGroup ()));
+ }
+ /// Viewing mode
+ QMenu* viewmode = contextMenu->addMenu(tr("Viewing mode"));
+ QAction* f = viewmode->addAction ("Fill");
+ QAction* w = viewmode->addAction ("Wireframe");
+ QAction* fw = viewmode->addAction ("Fill and Wireframe");
+ vmMapper_.setMapping (f , QString ("FILL"));
+ vmMapper_.setMapping (w , QString ("WIREFRAME"));
+ vmMapper_.setMapping (fw, QString ("FILL_AND_WIREFRAME"));
+ connect (f , SIGNAL(triggered()), &vmMapper_, SLOT (map()));
+ connect (w , SIGNAL(triggered()), &vmMapper_, SLOT (map()));
+ connect (fw, SIGNAL(triggered()), &vmMapper_, SLOT (map()));
+ /// Visibility mode
+ QMenu* vizmode = contextMenu->addMenu(tr("Visibility mode"));
+ QAction* on = vizmode->addAction ("On");
+ QAction* aot = vizmode->addAction ("Always on top");
+ QAction* off = vizmode->addAction ("Off");
+ vizMapper_.setMapping (on , QString ("ON"));
+ vizMapper_.setMapping (aot, QString ("ALWAYS_ON_TOP"));
+ vizMapper_.setMapping (off, QString ("OFF"));
+ connect (on , SIGNAL(triggered()), &vizMapper_, SLOT (map()));
+ connect (aot, SIGNAL(triggered()), &vizMapper_, SLOT (map()));
+ connect (off, SIGNAL(triggered()), &vizMapper_, SLOT (map()));
+ }
+
+ void BodyTreeItem::setParentGroup(const std::string &parent)
+ {
+ parentGroup_ = parent;
+ }
+
+ void BodyTreeItem::init ()
+ {
+ graphics::GroupNodePtr_t gn = boost::dynamic_pointer_cast <graphics::GroupNode> (node_);
+ if (gn) {
+ for (size_t i = 0; i < gn->getNumOfChildren(); ++i) {
+ BodyTreeItem* item = new BodyTreeItem (this, gn->getChild(i));
+ item->setParentGroup (gn->getID());
+ appendRow(item);
+ }
+ }
+ }
+
+ void BodyTreeItem::setViewingMode(QString mode)
+ {
+ MainWindow::instance()->osg()->setWireFrameMode (node_->getID().c_str(),
+ mode.toLocal8Bit().data());
+ }
+
+ void BodyTreeItem::setVisibilityMode(QString mode)
+ {
+ MainWindow::instance()->osg()->setVisibility (node_->getID().c_str(),
+ mode.toLocal8Bit().data());
+ }
+
+ void BodyTreeItem::attachToWindow(unsigned int windowID)
+ {
+ MainWindow::instance()->osg()->addSceneToWindow (node_->getID().c_str(), windowID);
+ }
+
+ void BodyTreeItem::removeFromGroup()
+ {
+ if (parentGroup_.empty()) return;
+ MainWindow::instance()->osg()->removeFromGroup (node_->getID().c_str(),
+ parentGroup_.c_str());
+ QStandardItem::parent()->removeRow(row());
+ }
+
+ void BodyTreeItem::removeAll()
+ {
+ MainWindow* main = MainWindow::instance();
+ main->osg()->deleteNode(node_->getID().c_str(), true);
+ main->bodyTree()->reloadBodyTree();
+ }
+
+ void BodyTreeItem::remove()
+ {
+ MainWindow* main = MainWindow::instance();
+ main->osg()->deleteNode(node_->getID().c_str(), false);
+ main->bodyTree()->reloadBodyTree();
+ }
+
+ void BodyTreeItem::addLandmark()
+ {
+ MainWindow::instance()->osg()->addLandmark(node_->getID().c_str(), 0.05f);
+ }
+
+ void BodyTreeItem::deleteLandmark()
+ {
+ MainWindow::instance()->osg()->deleteLandmark(node_->getID().c_str());
+ }
+ } // namespace gui
+} // namespace gepetto
diff --git a/src/gui/windows-manager.cc b/src/gui/windows-manager.cc
new file mode 100644
index 0000000..2ecd0d9
--- /dev/null
+++ b/src/gui/windows-manager.cc
@@ -0,0 +1,35 @@
+#include "gepetto/gui/windows-manager.hh"
+
+#include <gepetto/viewer/window-manager.h>
+
+#include "gepetto/gui/osgwidget.hh"
+#include "gepetto/gui/mainwindow.hh"
+
+namespace gepetto {
+ namespace gui {
+ WindowsManagerPtr_t WindowsManager::create()
+ {
+ return WindowsManagerPtr_t (new WindowsManager());
+ }
+
+ WindowsManager::WindowID WindowsManager::createWindow(const char *windowNameCorba)
+ {
+ return MainWindow::instance()->delayedCreateView(QString (windowNameCorba))->windowID();
+ }
+
+ WindowsManager::WindowID WindowsManager::createWindow(const char *windowNameCorba,
+ osgViewer::Viewer *viewer,
+ osg::GraphicsContext *gc)
+ {
+ std::string wn (windowNameCorba);
+ graphics::WindowManagerPtr_t newWindow = graphics::WindowManager::create (viewer, gc);
+ WindowID windowId = addWindow (wn, newWindow);
+ return windowId;
+ }
+
+ WindowsManager::WindowsManager()
+ : Parent_t ()
+ {
+ }
+ } // namespace gui
+} // namespace gepetto
--
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